diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000000.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000000.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..a28579306ad41c876af8dcfe5cf4718085fb3377
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000000.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa04c4498d2ae40d5d7db46f9b5fb0a549c1a4dccb9f34ba159e310ad2dc2a18
+size 43991
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000001.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000001.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..53a07c7a806925ef9067933802d99dc5126cb805
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000001.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b782af4a5550d0e7db564bb4cbe956e95218588d33923aad9d202914d3dbec5
+size 43004
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000002.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000002.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..d56da71dad1cafa71ecc0df82eaeb49d6363a117
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000002.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ef5eafab32796d88b11d728d5e81c616ecb45a9e90eb124d9cf4dabb58cee67
+size 36153
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000003.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000003.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..28d99fbe4c4919193083f9ca7d9c4bcb0a2eb0c0
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000003.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f7aed64c613d584d5c0da7e1b34aaf53644cb4b13b59650ac3bed6ea412be88
+size 34586
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000004.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000004.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..4a80627c48ae7c15f8817e3ec3266413a5113636
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000004.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0752339b9934798732bd2f75970f39524769124b4606dc32bde4db2b3eefafa1
+size 27271
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000005.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000005.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..53f3abe4590d2ad1da4eee4410ae00c50f743f3c
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000005.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:92e0ce031196c62c5afbfaf551d2f1b0d59b6b6ce8aeab7c3f05f563c63bfd81
+size 35715
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000006.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000006.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..3f50257baf1f42e65039ac58e7fe59e9482cce90
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000006.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9301c6a39ee60ffc89e03ab05b24a1fe52165f46016c518731faebdc2844eb7f
+size 46567
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000007.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000007.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..f3209b9212ace0c59c9ff2e720d0e23691982e7c
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000007.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:865879066587648e9904a49669bbf69543cec214b951162cf108de8f5e33a16c
+size 41529
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000008.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000008.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..e840c4e251514d2a0acb187c50841b7bc7bdc801
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000008.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d5dfff15076a0e9273c658607eb017cc82d65e6108237349ba67df3ba849cd63
+size 34633
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000009.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000009.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..689798838e7b3a8b902ef964b9d30186d5a61cd8
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000009.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ceccae2367cf0b388653c6f4f41c9030485b93a7c6c5493c34d3788529615d7
+size 57619
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000010.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000010.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..af61f14adcddc4706c1f0826a43b1f7a2fa1a3dd
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000010.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12a245db1afd3e7b6b4a61287d3897c1cd4ef00e0fd9b6697a740263d4d03e30
+size 34511
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000011.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000011.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..2222554a1803daaf67b63284ad0ea659417a9ca9
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000011.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1c2b6099d75a905c580d4a788fbca345921d4b4f916a26afe1211e7fb3ae2b9
+size 33409
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000012.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000012.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..177a62ede45d04be0697da901ca01da8423eb2ec
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000012.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:39ade63ed164242d00ae2b1c1842734ff6aa498543b08075c6c117bab45d6c72
+size 36698
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000013.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000013.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..31818d2fd4cea5218169707637d9456783c0256f
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000013.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:943aaba333b0211856fff36877bdbb6fb072f260dfc9065a4dc09da13ae0f622
+size 44932
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000014.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000014.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..fc6231f8082ab1ec49013bb530303dc2f62e3475
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000014.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d240952e04d02ffd7e4f5f82d6eeaf4a730a1fab3a11203b4befebdd6715de1
+size 42444
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000015.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000015.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..5eb0946c5ff62bdb4b9a6fde7163369bc5d83f42
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000015.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab1eb83027f8e187a59cacf512a39d840b08ee466cd5687b02eba5c2aaa5be83
+size 36138
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000016.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000016.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..9755429660a945e362c20f10b0b483f014a780d1
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000016.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a4be1ff04ebd6ba49a53403f26fc3ab908715c04c40b3b24060324b63a5ab8a
+size 28465
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000017.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000017.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..4fd368a76e514317a3646c452abc0ab07f006adf
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000017.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b62947f50a87328897cc134cb4e98b284f1f51778ef73ea5c5b2df2b728286e0
+size 36859
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000018.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000018.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..617a785ebdc77fbbd29d491dd1bb54c90533d4a1
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000018.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:457e5e890667ffa13d62cebd223844c26549af6330649054a48948aae847f872
+size 37117
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000019.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000019.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..5689f44a5c85cb71ee33ad068c3ec8d0d3770ba1
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000019.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8aeb1b49c2f093e09f99938472ae93699aaded644561b96021a0201c8cfc761c
+size 38022
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000020.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000020.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..eedb4ce817e50ca520134c2a7608d4889a4e0f39
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000020.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:feb0030126a8d2030202df35812cfae66e0d6b2609bde4d3638a23e644c55d31
+size 34366
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000021.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000021.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..9cd6fc47d2237c0c0615a63af8de8b37bd4c89c1
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000021.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a09ad66e0932b0a10d5459e9169d4d0373a974afe411018febe546c40ee0ea61
+size 37785
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000022.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000022.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..c9551078afefc0cd4a5c24c5c97a32526b71ce50
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000022.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a3fe769c0f796d1f5834b0609edd5db7febc27f9edaae121773c3656b02459e
+size 41821
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000023.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000023.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..f10d3c29c88e4bc1f5ab939e5f2d485dfa484f13
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000023.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e374a7ece649681ab56f119ce6c95db4f7955ca9efb40ef9c6c4d060d628de2
+size 31115
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000024.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000024.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..c32fc1f7db09178bf93973cbc5b47ea9ebe779c8
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000024.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:194afab71509ef25021e955e25a69beede9bafba95113641085d5999e519c6a7
+size 38699
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000025.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000025.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..666457a6cca2eae972a0775ee5250e1241980a0e
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000025.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fbf5cf301db01708bb2022986c906111adb7c87fb44c709d7e51f9e975ec140e
+size 53258
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000026.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000026.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..618b980641d2138ad0c598386b0acea30cda390d
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000026.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:213711efa6d87aa44b16dc1ec6b8590184e3cc4dc3026c507ebe8226c7172d72
+size 36864
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000027.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000027.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..dedbea4a0590a77985861aa70adf87cf402cc20a
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000027.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:579476ab52e3f36904f0225e2cac61a030bd810ddedd213a18d674353924d489
+size 32566
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000028.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000028.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..6e4a75c21876ea0b5f7985256583ac0e42afe6e9
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000028.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4591280adbf99abec36132a1c8b74fd3ac631604673d20fbb8ec5cf357daba9b
+size 34445
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000029.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000029.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..b73e6bc32315dc0b2a6c0eda95e28a150d8b6a62
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000029.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:99f23864b29e9e183ffb236056b3438b072b0c7f59fee248188e374e43e07769
+size 52859
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000030.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000030.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..939860e3bffda5a857ed25423db558af29cc285c
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000030.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f31a9ea186ccd3eaf7f5665e87e0133f250c8f6fa136ca9e91ece603493c291
+size 47468
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000031.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000031.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..5fbe727c3d23707ef11ce2c608137d447de9999d
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000031.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86d8a9f97f0c673e6e0969116e3f84ce60e1ad990266d2da7c6234a930f70a65
+size 28426
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000032.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000032.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..0aee903fa07d165a40bc8977af9a01aa38cabe96
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000032.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dfd702303dc9991cda67b96776ec07900aed9abf11842f9ec9703ea914abac32
+size 39485
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000033.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000033.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..9c5ef9f6cacf069aee6ea2cedc821070a89a4617
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000033.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b65f46bf88a4ac8e3e7c5e7891898e93841178edbe584255db9b2dfe79dbaf4
+size 30437
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000034.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000034.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..29a29e85bac8611efeb54004340992a871bd5b4e
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000034.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9763f6453d4202c19b728db7547bf4b3aa6db6fb65580c85510d55a5e777219
+size 33419
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000035.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000035.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..604522d170106029275f5dfb311b7b7d3ae7999d
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000035.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7885657afa41c7b68a44cbe149db1f4e07b57ccc6f0ba9cf251449557eb3d507
+size 31418
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000036.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000036.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..8a350cb92690310a466b50dea09b56ddaecb1c68
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000036.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c18e88c6814466ed2bab41fb2c3bc1b2600294e882e7b7f7b1f26c6d54e99e8
+size 50407
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000037.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000037.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..006938fa8e2ecb766d9225b554fe5bc4386c6160
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000037.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c89be1629da43715543b3c833eaa42935ae1449c4a2c31fd9170264a7cb19f9e
+size 33389
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000038.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000038.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..7811db5db6eee6e3e4ae2bdc06d46981ff33d5f0
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000038.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a50251697c21afffc2b7d6c7c64674fc8f0115ef3101a951f8ef627ef4f5f38
+size 37015
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000039.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000039.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..adf7586d9007b9b8284f083a524755da5205577b
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000039.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38ba21613ff16eeb6196abec0a7a7d918514ba9fbe168f4b15d3efa2f1e149f1
+size 36314
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000040.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000040.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..66eb3932609bdb675b2e0c8b5ae26b162594f29a
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000040.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:432a3a63bc31f0bc280768a773e23d663e5d75751ad8951a08d9ee6948364f8c
+size 44943
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000041.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000041.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..a1411316455f828b38e70450d64f982c9e966cda
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000041.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc84390717c029eb810219dffd2f9e2f8446cb6bfb37ecbbbee7760d714c1ea0
+size 34695
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000042.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000042.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..07ba9b152393ff943232d4b5efd23e31c5519a1c
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000042.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9cb4a9cef82f637f9ee10b54e1a713dced36613a7c9c976876e2b43a8a041479
+size 48036
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000043.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000043.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..19116a38bb0ae21fb0cd8ec03c5ea5f5fcc1eb58
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000043.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1823c3af8a7d6a603f381d4ff716579af912432f0ddca48b340bc3d7d35e4fc9
+size 34263
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000044.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000044.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..3fe75ec251878d34630d223fe09e03071d094000
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000044.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64010cfad8e78dc67e3abd857ae6623d529ff31f03d2a1755a42b1085ca1ed29
+size 40993
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000045.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000045.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..605704bc7883938b9e5ae98193b61c970fd5d1b8
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000045.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b220b06d9ee78a90df49a52b45066cc8484e1ac36820aa83325e459da7bd72d3
+size 44892
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000046.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000046.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..3bd062ab2c3caadc283ecf46ed4c6b7e0e1b3796
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000046.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7bc71d547a2df691fe720c61e5d85593a786f212d5f51dc5f6c2f85b7a4158b9
+size 32494
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000047.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000047.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..95e811e35513d681ded21b42aa45200d84f64661
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000047.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8df11e8ec027965d4de4b9933c115bb25e1fa1709241155c0cd57c05cdf18c9
+size 37440
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000048.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000048.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..3e7138e6005b0685c7c125322b008459ca78033e
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000048.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10064773c176f0c798edf66bb9f7cf39acdda4a326d01f5339b1727dcf6ae0b8
+size 30374
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000049.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000049.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..db9310d6fbdbdb44daa3bc6072398405b3aea0d9
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000049.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c2ac3b1b40a46f9cbb933c4cf4672e545823368cb1b67788175a3a9a4801249
+size 38802
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000050.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000050.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..dc454f262edb440477392ecfb31ce9e34b2e11ca
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000050.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5604cddf276e9a68012d3447e9842270894362d3365fc2b77efb1ebc63e1272d
+size 35197
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000051.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000051.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..4965afec167b7cc627c977dc266a487eace50859
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000051.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4fbca4f6725fc4a56a92c8d3bd79ef94c16c2904d6f88adeca2f20529a5ec807
+size 39934
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000052.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000052.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..13a0ad9a2d0dad08f50337206513623141cadd31
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000052.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:add292d5119fc2c1e92a22a6ecb91677fcd7fe2ebe91ae8f60a826df42a19c90
+size 31378
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000053.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000053.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..881eb52e656db457c0a924be7a54d85675fee91a
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000053.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:870328847d6a9921e77f94126a7ffa60f6b56ec4a8530b1fa1ff7ca01fb70e00
+size 33314
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000054.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000054.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..dabea66517106abb80208de19449ebf810f214d5
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000054.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d2cd078815790493bd29716c081993517bba71b0cf0a62fe92c72cd543ce6c6f
+size 39714
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000055.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000055.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..d093759d6e8a28f0f5da1d6e37e518463f75d179
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000055.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2009a548adb89127a8018ecb79ff02ab546ce86d3937581777c3bd074148880
+size 47847
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000056.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000056.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..e0a65a6dec5d6e5a14aace9a946c421642d0cf3d
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000056.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3950f731caf64d4077426f499bed1ec16701e7407b788006f46c3b0f8a9abd33
+size 36924
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000057.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000057.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..27e893cb6c60369c3eddebf33513382eeb577e21
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000057.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0fad92aea9c4e8c47dae58edbebafc597cc2943d82bc86fdd3b18d1fc58ef5fa
+size 34557
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000058.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000058.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..00a89282bdba39fa4a6b29d30456c44fc23ec5af
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000058.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f1a2dd6eaa82a6b58938d5a03e577e896a76bd74c5d90228d5f5937a9ae8cbd
+size 45871
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000059.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000059.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..11e95f05e1fdf283bb87f2365efacbac979eb5a0
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000059.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:831d5d4ad515ec58baab336db568d7454539cb66f99a3878ab573e67199b9cfa
+size 38273
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000060.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000060.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..f2dee1967b120aaa9612e8a96ee8c726ef87cf75
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000060.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72be840815032665280ca4922115895bfcda52044d65d119a2937859f3c46e71
+size 39568
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000061.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000061.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..f04d214c0d30167df51188c78e8ac3ea4fef54f1
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000061.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ebd0200b4666347d7caa326c761cf331aadc67686ac4dc7c2ae7ee618ad54586
+size 36440
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000062.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000062.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..9926c2869f3fc90384e5ac5e736202d0ffdc11dc
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000062.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af48ea177b351d0e2c42d9f720d8160f627f72986ee074367ffc0752e73066f1
+size 47457
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000063.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000063.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..f364e7d55095ee2842b646f90a6c0e2a76434036
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000063.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5948072d4c839f22f65ec9f490963a8547c848b7b411b64e003f7803eef9deab
+size 32282
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000064.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000064.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..51109bc02bf37cbe09f5d559deb8113722c3d2d0
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000064.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e34458d9e6baaab5dc676bd4f6a7e5b5c6926a8524ef371666f96b83eba5dd4
+size 33829
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000065.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000065.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..c117a8c3cc587a4e9e80a4c8d2e3ad1f6de915d9
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000065.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a478e6cffc2d5b7fd7e128adef653d97e8dfa262a7f2ed5effbf361a40371e56
+size 33868
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000066.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000066.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..aa1a9cdafd5ab3b91c8b0e96f2af18e7c8b361ad
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000066.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87b5b95de768ca9fbfbc20ef9f5dcbed7f7864549a9f6f4b41c735b9d3ed6ac6
+size 37172
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000067.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000067.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..341566f654916c108c59ea96e17d18e6640550d3
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000067.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41e8f37dcd94fc65c53ddc715b564692e2fb2011b5d46ecf3513b98445e9c09a
+size 61280
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000068.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000068.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..79ea583e8b5e297bd36f479f9d5c2cc5faf60c1e
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000068.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a449aaf076401b47431a11d290a735721b888ef673f3a5fe9d1d191c4ed2b89c
+size 49151
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000069.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000069.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..908e1d2f3c9fcf8966aea030f0ff999211c9a174
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000069.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ac484f3daadf686511eda5f41e0edb3a06939e32a91fcf1200dd0c2997c9710
+size 32360
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000070.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000070.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..a7ea9ca69d1a0b02f532eb08c02eccfb256d497f
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000070.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1ff4412791976713fea0ef46075452eabec5b0b52e9474e8277d8944ac7a480
+size 41871
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000071.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000071.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..9a94982d85634535422eb67caa1b6a36e8fd0816
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000071.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f059547ed472ec1280b735320e059b1b29edfe5bfe03042733441768bd0c15f4
+size 39017
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000072.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000072.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..a79081b1a0688b46bf2f0690062b5f00c8eab514
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000072.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1173fca19ed8ac969ccae65f1e2ef7945a0b21022db2115399bbf2e14229a124
+size 39402
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000073.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000073.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..1027e004d82f6b4ca61909f42c013f61ec642855
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000073.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d62307580aec817b3dd46342c0151b432aec36785d96d2578db5e0c7d44945c
+size 29758
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000074.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000074.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..857578c9cbde2adbdb951fab2685d2a0ae880e90
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000074.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dc4117e346f8a74687e1a2493b1790b228ae9fe8dfc4ced1e0c73970f62d017c
+size 36357
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000075.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000075.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..02fa53cf890b0e75144f008f5694169addec58cf
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000075.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4cdd58b4ba7603059d8da3f083448615d36968d643cd02806f7e150c048e9a51
+size 35386
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000076.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000076.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..bcf5c25dc3884d80e354ac8a9de8d0db7755c127
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000076.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9dd28561cec497a1f492a2d0c3f63f302b7c24800300e0b2a7cc169d2a182295
+size 40297
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000077.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000077.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..dee33765d67155b9f4bad8bdd83e9c4aa845f77e
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000077.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4cd611ea2d44f73173b099766252c16be0b094668eeb7a62902947ec3160c5d6
+size 35726
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000078.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000078.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..23508f2bbdfdfb68f93ee448743b479ac5a233e7
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000078.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1312370e230c72627d2a0d9b1349a83447f58d47314aed3d4492257b2343732
+size 34367
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000079.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000079.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..7fb43c2a6620fb60feaa66a28fb86b49f7f6f877
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000079.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72711cd25b14918f29f1b614d356c7b648054c38861045ac137daca9c8663180
+size 47220
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000080.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000080.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..d55dbb86f3acbb3a82bef4be766ad116855ea76b
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000080.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2c71fa98b90ca7b074f3ca01bdd02fd6b90a4c349f4a84710011f8ef8a163d6
+size 33122
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000081.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000081.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..2228765e2a298df555d934ce597e076cbc1f9574
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000081.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1109dfb7a141f825725c5db01258d0ed5539cf2f2c7155fd7a71a6a3df097aa7
+size 46347
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000082.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000082.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..124f84653d3222bf96451bac4dfb4fe15f76af08
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000082.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:689cc8ef63fdb87844ce11fea8248e50da118e3c0a9829c34fd3adeb516c0ec7
+size 38656
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000083.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000083.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..09b03ecb42d914c3e0e28168013529880ab6d022
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000083.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c67666ff8e8797b90538cdc224321f435c52b2c07ba428454caf5b8bb69952ab
+size 39119
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000084.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000084.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..cbcefc60af421f06d327b5b8bcf000dfd7f7416c
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000084.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c785f4a94f494750562bb8a174817f9c893540823b35dab8e3ae908d9874f600
+size 29725
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000085.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000085.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..f489d759a1c398a3f3fb73b5f8e151555c3befb4
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000085.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91a374219297b0860d69cb307ddccaffa651af04ef53007e93aa8eba74d99051
+size 56613
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000086.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000086.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..3f1e9332c8bc5f8ed9bd35aefbb6af6ad027c546
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000086.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30cc64644d54ae3afdc467d44063f585a0f299027296329055f1e9f11e1109fb
+size 31302
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000087.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000087.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..b6acaad75c128363b9ff2e34f097f8ebc89b1471
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000087.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5016ae005e23868f232af8460076162e6864e7c86eeac7f113f027b549c7b20
+size 38078
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000088.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000088.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..a502455f034105edf63712ff49e6019b5d27dedf
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000088.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77f951896038e56f73f3ead999d03c0b39ddd1932e9a97671f8ce8561863b2e9
+size 48172
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000089.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000089.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..26deb1068641db9c7980c702a212418cf41aec7b
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000089.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0acc7621bf276c45910963f60942c4f1f388c707a12ea571dff4b76b2b3fb3fc
+size 33353
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000090.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000090.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..86022c80c1b1179d8d9ede2862b9fbe1ea817051
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000090.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70757bcbde718ea4076d5225868ffe449eba466d043870f7e730b480500ef056
+size 31830
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000091.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000091.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..16912c0f115b1de5a0cdf84c034611579bef0dda
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000091.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4d98afdcfccaa3bad20dfa569a1abe3b7ce4fad1d80bccf5c821aea975d1491
+size 28946
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000092.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000092.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..bc94afcaa761df70f4d52455ac26cbc2d6470d7c
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000092.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:247dfe8135e9387de02369d1b3af7a1d61485a302548d932a7627835aaa250f3
+size 30415
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000093.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000093.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..926f44c25e31ddfaae8f46d2aa18b709dd93ae87
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000093.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b45471f90b9c64bc5e09feb331a5a49ff65858c2a886bc3a564a26653e6d10e
+size 35625
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000094.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000094.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..b79b09e900c8dcd07ead68add5ddc433447b7f1a
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000094.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba83a8449b61d3753c462a394b2d81616a91225d23ceeacc696eef9f95594a76
+size 38171
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000095.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000095.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..dd6de31b4dd266117c1f2a66a75c7abe1e5c4150
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000095.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2ed6f8402ea732674d2aef5e68f9f7b3e30ce97d7d4f4e6c775dd2e309f36c41
+size 43366
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000096.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000096.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..5bd83b37b1eb248a7f1d12017301829eeb9a3b34
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000096.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86d4ac898e036a41f5284eef9aa53afd54b264f89b7ffcdd10890c3d1c68bd1b
+size 35790
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000097.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000097.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..318cd1b66051dc8b6b188a411b2977ffc15c986b
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000097.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a69bd46b34c701f84374b8e015ce74c3a90553142f1f299ec7323298c009ab85
+size 27164
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000098.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000098.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..19bea18f6516c335724a22986673faab368c388a
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000098.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81f1afe43317f503c4de525ef59ac5d1a5729caad9a3c6f643d8d81664a34f55
+size 33740
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000099.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000099.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..322b549802415886038e7cb12361597bdc8494fb
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000099.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c855667d3552d5df8ea653e9b9260a8e3cf2b4b69e81648439f2811fc9142b05
+size 39698
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000100.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000100.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..9316d572a70049ce6b02dcecf1461863026a4886
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000100.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:717dea22e7a3ad3b42ba0a024b1035e99dba0b1c286e1fccdcf2d4c211a1f76c
+size 30022
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000101.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000101.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..c438138e8d8196fb204eefd0642c6f566b0644cb
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000101.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c81672e2d6bd98a981e53a223cd981de3907fb3d22caf6d6e2bfeb1804b9989
+size 31125
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000102.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000102.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..aa107cef015219faadcd5b2030e34e358a0e57cd
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000102.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a1ff97c576b19ba33ecab39c4f53aa11775128c9f99dfe558d63e33b92c9b5a
+size 47891
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000103.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000103.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..8312fad58592df8b394cb79855b454060aba9fdc
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000103.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3acab6b60ffa64e21cec781f1fb8cd150d302a9e48435bbe42d74621a5b030c
+size 36057
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000104.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000104.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..316690312abb6304bdb6a65221a873f9ca436781
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000104.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a59f5d1a4081bebd94d221ae5ba023146d7c28d5c78e2f5a68c6cb523f8b2c4d
+size 41209
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000105.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000105.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..d18ea6a017c7590369789729ec6d6a040dae3d99
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000105.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33de8d6b88c9e9af6c701e514fb26c890ed526a63553c65b53871bd91e39a8af
+size 35826
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000106.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000106.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..77b8cf1c5eff0e3a9e083b1c0130d17c760a699c
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000106.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74703e7625f4e77556fa571ac0a7b3f0e930632891b04b98be4419eaed8f9298
+size 52059
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000107.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000107.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..1f848aaac4c3ff9aaeebfeda998cbaa4bedc9903
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000107.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aac4742ef3d64bc4630a54a9bfb4648c8ca735dfc334d5f7d0fccbdb04e97d5d
+size 41671
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000108.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000108.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..dfd7d48fb6e6db3bdad02ddbf6af2d58c5fe29b6
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000108.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ff8c35dfc66ef8f7d42b3bac7e61c504101544d58f3cd1ba40e9604823aab98
+size 34454
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000109.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000109.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..886bdfdcc8ccf58c310c9fb7d8250c006b6716a9
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000109.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5dad02587a920018055b25e1a4e7dab04faf740a0150cca4dfacce55ca0ff29
+size 33219
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000110.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000110.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..e0687a2c660445cd3509233b5ce9bcd37c1acc80
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000110.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:976057b2741ed0700dca6d2bec9732dad13fb3ef8d85fda8e841a8a6b2ece805
+size 34658
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000111.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000111.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..9e2f3bdd5e6bccf53283d7ad364d8ecdc48848dd
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000111.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38bba679f0a07d55be023ce7dd97df0892630c9965af88c2dd784b81c4e8c3e9
+size 40702
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000112.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000112.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..4305e2e08eaaad3861ccb761aa8d18945c7323d4
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000112.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ee4a1c0329a5d8419589839eaaeeeaaa7efc5c00899d79d4a7e406de840265a2
+size 48297
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000113.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000113.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..58f75dd2a2c46a696e39e3cfedb4b9e632c49cbf
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000113.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:574ee254d8dab66813fe6f5c608194410a2534fbdaccb31c0312ff92b0817332
+size 35327
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000114.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000114.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..4a83edbe1f2efef6991e3509a2aab07a60dd4c2f
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000114.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e28b231fe1f0c797d4e059b658cbc65543874867d9b5ad76d11a322e78f2780
+size 48906
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000115.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000115.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..edd174bb23eabbb85570b16febe79fb78e197660
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000115.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ffed52d6dff6f4d539de8ea7c49f72c5cea564b0b445938a37236221e624d723
+size 38519
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000116.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000116.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..f19068120a1e5b8ec2bff12dd3d6c825d34e9579
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000116.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c1714620529524e3a9c82670e7a952618e6e77fe727154f52a456419831451f
+size 36514
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000117.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000117.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..0afd586ff52cb5f757bda50bf67a64cdf1f11e27
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000117.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a81fe7d1037e0db554078dd5c4212c2e2b5fd69f0dc8b30f70d882f3ea9591b5
+size 35886
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000118.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000118.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..4c0003070e1f6afc1418b38bcc6c4173ce742b2d
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000118.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d930f2264d884fb6cd9a7f1e04136ba468237a85687a8be74dc8f0e4258ab448
+size 34949
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000119.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000119.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..47b0306386292b674caa42daca1caaf52eb86144
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000119.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b74800bd43c67de9ecf7b8046abc2963938b32cc6d2541aaeaf53dbab3a9aa0
+size 40116
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000120.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000120.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..b25ece7bb3ef39e1be4e08a6955258586853872e
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000120.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cfe8edc1a8a0885b7a9dbbb7bc03fdf1191f892493a8987f10ee96a5d6303433
+size 36525
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000121.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000121.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..d6e1313ba75485f9f46243b2522ef8cc956692c8
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000121.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:09fb2c465089b824d43caeb6b9699e2b180fcc499853ca81ba4b0418ba9e5296
+size 31590
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000122.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000122.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..0d7af6e67244143c425da3d1f79c614327e468d6
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000122.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:219446a27417c3be36e518e24609056eccbd4643876e36a5732088939bba8a05
+size 35425
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000123.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000123.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..31d031537063afc3f1be652856ea4eccd08d3cd3
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000123.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2bbba8b4a2176949969c6a66747ee32a605c2ea8ccf82181447b03dc5b181cf7
+size 50895
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000124.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000124.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..fbdfaecb44c400aed4f9b6e3f8d172722e8e8b2f
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000124.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31535cb3e52d03f70e602dfc8aae5387f477f2b5f854d48c043ddb2679152fc8
+size 38034
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000125.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000125.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..9efe3668e76d6a95dc36abe7089d3ca334fecb02
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000125.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1dfd862ec47984d32d8ec49590ecae1a649d427b4dbb32ce6b2b9e5434402ca6
+size 36437
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000126.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000126.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..d804a93b40b39b289f372ef7f180e82e35ea431a
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000126.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d53adaa68d315903441bcba4c299e92218e32b3ca44393593cb950821ee7d23
+size 33631
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000127.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000127.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..ba93b4e4b5c33a4b7dda1141792840f7bdb30ced
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000127.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c32951d6b37adad81a8e3a8e3f1ff05010bd91d8b528de5677cf92b0726ff44c
+size 52264
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000128.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000128.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..4f46aed5e768b63f9e5bdf0c76910b0eef39e75b
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000128.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4570427071f95714b3300adf4f04a12a6ebe9a2905293a8771d3ed2d4f62f8d
+size 37798
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000129.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000129.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..f06c2622c56eddd1c59f2122262ffac8167fcf46
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000129.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ab68680f7ce0573f720e8d1807131c39145d7f2677130f51fde525780a717d5
+size 27422
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000130.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000130.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..cec89839f6cced49d893668d932fe1fb76ca5c3a
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000130.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e59ce3db8d5f870c8e01d4b3a107aa34a4baac4d9003b202dc9122badde87841
+size 45301
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000131.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000131.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..3a805ef9aa4a44087f84a3c7717b45cf08004b4b
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000131.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f130fff36bb574e3004061901117db67dd6153614785ea195a770e1e2fd1d631
+size 33492
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000132.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000132.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..3a512aa4d18b509e57445e69a252c687b9202dc8
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000132.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb09f1d37f619db8ae03b0e51ee392462a116c033a32d2d6da0d69491fc40dea
+size 41505
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000133.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000133.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..8978f8c9b83747edbd751b32b8b6891836edee2a
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000133.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c316b9dd06597ce69df1713dc94b569175a6ec7cfbcf845ec82538cc4fdd1c47
+size 36330
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000134.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000134.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..65d5c0473d0fca344e4d416492795a4713d63e7b
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000134.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a70131d676c15be1c5e2c22e87581af030f68609156db1925f1ac4b535079b6
+size 36657
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000135.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000135.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..eeab8cb929e9328c8568e8be09a43d5f2fbb0683
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000135.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4aa3bd3c849567017c41c2a0384564b5e58dedd28a0d8d22b0bb04d5daf2c9fa
+size 46188
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000136.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000136.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..a18a81e855c55f8d4af08b937516f87a5a2f5839
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000136.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b813a13f896b024062acb2788ca89059b2497f73a611151641376953455c846f
+size 47136
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000137.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000137.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..e3250a14337cb56a4fdf03e57f5652238b639388
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000137.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5d4c3ab356258442d7af7d55e483320d9a9aebe1c86745b186f51f52d5bebdec
+size 36696
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000138.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000138.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..4215dab4fb7d06a3c5bb8d19b0de8ab284f95810
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000138.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae8b762fefa504843d052386588240d0d9dea8887ea01958428822b03550d80a
+size 35218
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000139.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000139.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..94b1814e3e4d423af8b01c69a7a0a5be848ecd67
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000139.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc91e9b01e10d8948cd085531a355cc0da92e5dbedb9c2c70070ed8171b61df8
+size 43229
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000140.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000140.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..485a3763791f210c29909b33915ce82548c86923
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000140.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f88dd5e850dc8ccb8bbe80228ae71bfb93888658e76da196abbb76bf49bdbda
+size 31198
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000141.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000141.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..9bcd4dcfd552e45137ad042a0538447ac63f7ce2
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000141.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4fa054dd4989108595cfa12160bcec29c1a852b65dc96b64f3cea19a26afba2
+size 33142
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000142.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000142.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..c3b5af340ba24d1e850af8be2ab82041e749bf9e
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000142.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:238ebc4bf9c1695a97bbd4a0b74918bb60b4f65f73ea9369f450d086bbfe2528
+size 36072
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000143.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000143.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..6df3f5b23533aa88d9bc45703e6ef67c8bf6e2f9
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000143.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41e8f883ea9e6681bb79a084c3685242e0872e936a6cba78634e1b0568b0b889
+size 33852
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000144.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000144.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..55f40674623f0673ee622f68ee1fd5da55c2d36e
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000144.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:389c4a7eea1209983acdb6f605395f41f2fe1c285ac19aea2f7c11a17b9474c2
+size 37213
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000145.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000145.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..1f053dba7a96e35a692922fcc59c9f8a283f28ef
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000145.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:23e62a8703743b9018333e58e410934238be359e8876f51cfbdd75dcc7cdaf19
+size 37179
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000146.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000146.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..768759cc4eac5b817999e090d8732dd9afab43d8
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000146.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5551f6e400a2d49ce8b374c894ebf8691b10130d35235697eed2ae111d093100
+size 34982
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000147.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000147.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..4f53e1605730c9d8a7a797a5321558ec3f2aaf76
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000147.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aef867a9fdf209b2510c6a21798867137a625d3287a994fdb29c393b8ea52587
+size 41256
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000148.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000148.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..201dbcef3a0e6d6a9578a8b7428f713662bdf482
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000148.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1bf85c912450b0a88c8fbd3ff114f7a4d6c00badcd889965d130048aaa77d979
+size 43033
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000149.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000149.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..1b3db37c7b5abc779538f1869769e828aab817e2
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000149.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f2315e6114269029aa9755b3356abec691ce907c49dc0a1f9222b8a84106b42
+size 30399
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000150.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000150.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..8b6524021b9e4abaa76d47121f607c62b82057cd
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000150.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2e0b066dd1f67af884e291f284b34661d15f522966155970c710c9ed835af0fc
+size 41431
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000151.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000151.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..eb5e654422a39122d23730afeabd76e86dd9970b
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000151.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69e911dcad3c921eb88e29d377179454397bb588184e5a1063e51c3afe24a09e
+size 36605
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000152.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000152.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..2145dc1617067d8e8bcf12d1dc6c06692b9853fe
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000152.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:707a712b03b8441f04b9c881eff1f01f84eb8c94fbac4282257910ff76067d4e
+size 43066
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000153.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000153.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..298533d1c98a62c457111fc6616632ea14df09d7
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000153.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2291cca2964c45887ae3f0c591d679bae3d2016fcbf0550e594bcb80e6c21e3
+size 38762
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000154.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000154.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..88d7c4764661c762ffac6ac31be1b167d4b4a148
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000154.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3ef712ebbc7755ebd1aa7cf1a02958a708201370a5b477f22a00f2c24470b1b
+size 30890
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000155.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000155.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..3d00443e656b694e170c6ee2e8ad1a67df3db8cc
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000155.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4dca99d09b4e495bdae90087356ca3069b49d5760ceaea9bb4b9427c1ff589f4
+size 27692
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000156.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000156.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..e3b9eaaa0e4d0018a1ad0c7d7119cdc7acbcdb4e
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000156.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8685ea3e23b216d4fc7874f134e4f9cd21b6ddf8c540be70b600e31a0f493d6
+size 60623
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000157.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000157.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..3be236903c85aacaee434dc765b377227f922d43
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000157.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f9a85869ddd6936156013a0c70d1dbe936d8000b1aed4aae8653b44f366be6b
+size 33001
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000158.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000158.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..413428a2b9acad99dd989d9aca0ea74f28bc1679
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000158.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca564eb7387c1feceac5f057af34bc9876e854c5d2ef1f1d15c87252c053ddcf
+size 42850
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000159.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000159.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..fff0781ee748592c5fda86a357f79ee8fb194460
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000159.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0be54957464a62612dede64f15ff738bcc1f85b657267a25f5ded490a8700d7
+size 34136
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000160.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000160.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..93465cf33eccc7f520cd9974cabaf4f75a23b010
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000160.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8774c8c915c35682610f49db4eeb39b81eca20321deed03d0046c06e72307f5
+size 31149
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000161.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000161.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..a279b64fef9006b459e6a26c7b5ae7a826bfa83a
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000161.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb3799c7d836309b3b3d774d6f88682a41189920d96eba210d51cdd0a7baa961
+size 35800
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000162.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000162.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..d66a8f91fa7a7c0118a3f41dfe994785e935cc68
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000162.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d73d43e686ebe7c529ac851d3526f73f5bab933f80e59aefbab1a2ee11224f0b
+size 35781
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000163.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000163.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..0f4a6d07fd1875fffb231556e88ad9c68f0b3c36
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000163.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:627f2f7228a0ca59876f5d6fca84d70be9d7f5bee381aab00a7c0a233b9498ff
+size 41742
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000164.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000164.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..f41a8b378017d62773a86e9262b91be5b7e4c322
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000164.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3e3afbacb29c9ce8a8631adc2064609df5c518dec580c3679b0cd60319a5f521
+size 33795
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000165.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000165.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..552925a7cdd3010a555ecd13ec3ad36ec69d528e
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000165.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b60decd83b4eb8326e9945624de783c15adbbc2a63cf15b79ff25b943ff3c24a
+size 40777
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000166.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000166.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..1665acbeea4622959b528399457c35bc719c2b3c
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000166.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7d7181a1707aae10e3f6f51c6062e654ed2f2a3f7136fb70c5a8ea27ed30756d
+size 28699
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000167.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000167.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..764a03cbc4ee5f3cf0e8c10fe728c074f6394bba
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000167.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae9dd232fdda2332dddc6bc0894c3242c89bc69dee0ed8235129ee7721698386
+size 32669
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000168.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000168.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..d5df51cc5dabe952ed6d1f0a54d612b70d5088ec
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000168.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da0d0f6d70cabbd69d0541ec9a2bc4cc3ba6f1567106e6a8142e0c8481edda27
+size 37952
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000169.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000169.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..7e5a55a27731cbebae155904decad31a615cdcec
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000169.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eca426a87865a258e492e55b0d84879203d206fd97d98f718965d3b132999c01
+size 40166
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000170.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000170.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..b92b3705811935b26e0d3f8fa32e4839c8a89db8
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000170.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3646b2ee73543c28a282b71411c5d711ac2111f6162427325d5afe0544c00261
+size 31890
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000171.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000171.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..9343fe85abaf0faf447d8e1445e3861bb445c60c
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000171.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17274782a07b9d8cf1ae1729aec14cf68d255837892fe49ff07719346b11f79d
+size 35485
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000172.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000172.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..33a19e8bb9c293a1907bd0be9a2ac6c41ff4292e
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000172.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f0ada7cf857235e357dd155e162dd868ac472a8e2770f7e06911879a6c7d43e
+size 33251
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000173.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000173.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..5bc514c371cbd6484d498a6c3751f15d100b13c8
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000173.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1fbed008548eeafce5c1bf48980a925296621367058542530a0bbbf2d6f655d0
+size 35325
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000174.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000174.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..64f18f6f16d63a6f27b4d04ca7896ff94e077468
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000174.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8840bfb1e708956e5aa86948e494f804a0a3b8f3c50dfa89f91e231184e68a9e
+size 33022
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000175.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000175.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..8c04bc03943792f1182aef39c5bef488a4d191f5
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000175.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ed0c2c58fbed56f6bd2fa6f7ab04dccda1092853f4cce2f946a952fe96c2f8b
+size 31824
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000176.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000176.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..6d30968b1b56b13c198472b982a7db6c6667e94b
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000176.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1ed48d31914eaf6371f41d3b9f543d2a4413aa687c198f997b1a4fc1bf890b3
+size 35717
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000177.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000177.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..4a21795ad1db2829747521c7e7c85f736f806819
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000177.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58007f1036c70f5616c64084789325083fb6b5c982cdb03363fbce2be775bdb6
+size 31513
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000178.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000178.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..2ea48b56e7d10ca7761a494614fab39cc3f80472
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000178.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:685949255878df9ad89bda915df1bae664b5c919192b06d600cca39d188bea12
+size 44100
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000179.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000179.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..789c5223f435f8ab47d1a61e34d0a0eabb706576
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000179.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e492e9ea158799fd8e4dcd1ab244688c636817b0816ae8d53e2c94fa03808eac
+size 30493
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000180.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000180.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..d4b48a8b23169e8716fb90304b18cef376747603
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000180.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15cad054526e9433fa4de662116d6c5cc88d68c671e153b1ce341c8e3f8f449b
+size 35516
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000181.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000181.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..8999aa600a08029f709d0a48bcf16ab2a8080f6a
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000181.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25fafbc2cd5d5de62672d0f1789cf35fc3352a979de2182041bf0d14b78ef9cb
+size 35637
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000182.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000182.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..22bcae885858c758b4d180f9fb9c00c8f6f47a5a
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000182.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81c4bbccf68b09da3b3ee50a90b035bfc88691569c41751090f684dfccce0acc
+size 31085
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000183.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000183.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..a2a7e4446976e88c3e57c0ac7dea834a1ae6c787
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000183.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9fdbb5fb2058ee28021f523c184bf4154d54ffcc5df823dc43e7e21b1a541ca2
+size 38796
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000184.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000184.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..665b21f4d46b8536b82b0ffc21873ed7c3147463
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000184.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3775defe3502f5b7cedf1c8c3af3f55d70e59163bde4a3cbdc71c977c913fba
+size 40896
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000185.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000185.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..2a9905ff33cb8af6050bc58da3d65e22b8ad74a0
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000185.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fe8df0375a8d8b1ed7466759a1b87b5014c19004f15bde0b1aa959540f5bae45
+size 35537
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000186.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000186.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..f7d28c32e252586b0750aacd1f4704ba60e6a46c
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000186.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d065c103393c5e795c084f224e05a894f3bccdd78160a62a0710caae1bdb3cb7
+size 41887
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000187.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000187.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..df085bd57f80de96a5bbfddb70e55a35a217f81b
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000187.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:330f2404bc5f47bc279aa5ed65c75c2a82d5dcd8485d51d1ef63a408926d9897
+size 36036
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000188.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000188.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..bff6f57ae5b108e293387b83492a49d80fcdb124
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000188.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88504a2959591cd6473f15f3ec24ce9fa63ccfc31229437e636c4307581aac65
+size 36923
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000189.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000189.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..92a9198ba83ca16bc865edfa04270b2cc0a9b963
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000189.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9772d35a1cc80521fbf07c3cdcc26edc522320407faeb2ab1d3795df507732b3
+size 29602
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000190.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000190.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..421a8b081b67b8a7b83f097ea10cb1095e8e7f9b
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000190.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86d25336f238717db853532f3552927b1bacccdeae2e2640ec374568167e295c
+size 41388
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000191.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000191.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..e10cc0d78f98e51edd23099e531825e9cda6338a
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000191.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ecf2ed95a67013b3c8c4ca10b1d5660b7a35ea4b472cf55bd4d7f219e94c2e3
+size 37841
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000192.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000192.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..e42008277ffeebf4ec9600f68ea61be8c1db0985
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000192.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:800c754dfe3b09d86de1d8961622793921a55f339bfa1c895c06dcbc1b595b1c
+size 41543
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000193.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000193.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..acec5466b789aebe4932a84b0cae861be658f9f0
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000193.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a65b58bd18103e79dc6f8ffe03babe659e1ed404e83d9ab49067759871f4a09
+size 29774
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000194.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000194.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..3209963863fcfea4157f42eec011b7ce9419456c
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000194.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:168910ec82adb667832e654982dbc7a01bd289d4ac92a12e78645cf7552ae3ee
+size 43081
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000195.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000195.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..10ffb72ff35ce32a1a79348fc08aeb9f443d1857
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000195.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15ba76ad9ff3be689af42d05ede6d3a8e0480cfa233b990bd9515e53f793bd76
+size 45694
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000196.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000196.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..31d1c310a1c120365b8d26e336bfb2cc81819971
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000196.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4ccb25422de6d0cb47d4ee84c5155cf91e9d663100146543334dbfce4e244cd
+size 34948
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000197.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000197.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..f8e51f147953948d5775163733cc52a8bc72abcd
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000197.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6f870f939c3c60bcec26041bdd0f37b1d9528a7b33b5d27e1cbdeaa02813a7d
+size 41186
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000198.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000198.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..6a89659b2757c507bc3aefb6176b1c4d21ef2a6d
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000198.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e954a49d6458a946aac0d8edcb9c69a955f7f7b051931b92b65332b8de6cb4e3
+size 51269
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000199.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000199.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..b30098f28448d0de7836779e90de677c6423b058
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000199.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf9619c733df1444e1a1dbab100ed593087200837bb3092b754506565c65389c
+size 37610
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000200.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000200.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..9ccaa1a9a25025ffd11ffa91dec67b5a998e6100
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000200.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9bedd02b824edad155cb544c2b90647a921546afcfc89ed1fb5ab8a66c4f0c6f
+size 37710
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000201.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000201.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..876fa0a91310495b4530ad3f9ecf0a4c26fd5679
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000201.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb09c22c5a546c53eec5066ca576252a1030b844994b7d6e7efa393a8e394f7d
+size 36826
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000202.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000202.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..7d37254e111d49fab30c6911ee74e8547795bc6c
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000202.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9a822907a8b1dc552866bb9fe6b064c6a560e031ab63934b1585d4417b55fee7
+size 45857
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000203.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000203.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..6f3b65a07afad177c5188bcf7f099ad2e8aec0e2
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000203.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10d0da92b11dca54b1c83484fc2582775ae912a162eef2237a49bf7fa45bddde
+size 29232
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000204.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000204.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..3c0ef6a9887de93ea2b90a7bf8b3f1f833d06ee1
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000204.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:edd2f1715b09b6b32ee7868794291ba5171c403488d47a71a453d18a4dd88e58
+size 31401
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000205.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000205.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..aaab76718d2e49876d5108753b94ceace8f32b82
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000205.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f01923b3f59e3fede24b3612641fb671f620e2831c0315f6ddb07a8446d19ab
+size 35365
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000206.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000206.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..32f5c7f85b8fd923d6193a6264c0530043728332
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000206.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9cdb29979a6db2969dcf07ef2db4c05d7ead821b1c2b4bd0438cf967b012b9a4
+size 35147
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000207.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000207.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..76645d99582b8132d8c13326f271cc21ac8507f3
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000207.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c1150ed346ee33083615649981a4bd9a78a7e5bef98031917e477b012e3f1b0
+size 40423
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000208.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000208.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..ba5d4ee2937448de1b9357c1a46d4d97fe80cc95
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000208.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7bd20a4a01f912e9bdd4211ba6d75449923d773c158f3950938af2b1749689c
+size 29299
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000209.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000209.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..9282b4c479cae8f0a26f64fa768b17a5b9807dea
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000209.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0d7c0ec9ebc3427731fd4e9e0076d27f129119b3115440ea60bebdc5dde3b5c
+size 38786
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000210.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000210.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..c9dd8e2cb77732af6a6f7a88d152219c09bb621b
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000210.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25fb84c1b11025c03e50346dd9c1cbcb68e5749868b311eb7468a6d68bf31151
+size 37233
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000211.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000211.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..81dbff6cd19692494341d24d00ca9f501581a048
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000211.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cacfd91931075beef23233be5925d68a74498ca12b165eb284cb72b5dcc1fbc3
+size 48293
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000212.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000212.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..75861dbafdaf2964e2e8bc5e610e2f2fba4956ee
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000212.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d3bb980260e27a6a5dc4179975ddec52bf312663bba7c59398f093396f8f96c
+size 31540
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000213.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000213.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..6ea185181c1c19486f8b7596c293778a7765fd67
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000213.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:61cb6a678492f68f23e8a71fcbb8e9a49cd8da32c81d69965e7dafe45492dc3e
+size 43737
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000214.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000214.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..4c447189002eb05916313514e1eec00530dfc8d4
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000214.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97fe36d73a40dc4077dbc0f64301f16ffff60540a6a86a112e14eedba154e3d3
+size 32761
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000215.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000215.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..8d91130dd93fcea193f0925d979750e10ef1aef5
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000215.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:701de632a1eaf822baaeac02932ee42fc2700547c8be4a556ba59b54d71cb9ad
+size 52181
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000216.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000216.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..e69aecbb9f358f0f687d3fb9cb12e5193f5a2f31
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000216.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27db18d54c88a3852acc89d2c92000b85d0f0cfbca9b3b7baa464a33ae5d2e00
+size 40465
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000217.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000217.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..dc419d8bd23c72ee83abe12f4c5da4c602b439ac
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000217.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f1ac059a1e51b21e22e4319204f70e86b6f2c30b9b2a3dbf62b30653a742f60
+size 46445
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000218.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000218.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..471d8a284661b0d92fa9fb2d1f6bf35f583f640a
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000218.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eed42d76ca73b32d5f13b8cba44ef55c1a3809f6d4d60f1d69d7524c933123cf
+size 35697
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000219.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000219.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..3ad19b653d57d193b8370cccf1b6568779a357a9
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000219.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bedb003719b77c563aa9e8a21b9330bb13d5ef70075ab0129c4eef521c8b4ba9
+size 43251
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000220.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000220.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..a9bdb5af8b830c164bca879928164fbabd9c19a0
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000220.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d37081053e484a9b773a475c82dd5f811ebfe4bdc1e069c9aed75b868f53a66
+size 40085
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000221.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000221.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..5e87652fe0dc842579d3ec5a36dc21bba7ca99d9
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000221.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:711f07628e3d152a9814ea443a7ce25204f6c7645bd007ff053dd90940d1f0cd
+size 33593
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000222.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000222.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..a7f9c3f5ad6a8b4a644371582110c16445ce10ca
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000222.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c72ca7d9bd43455fcaf840b4e6ad8f21787d0b4613b5421ddb4722a1fa579afc
+size 33231
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000223.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000223.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..e336fc7526ae83a43222258e763b5b232e836123
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000223.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ead0e272865f3a1f5ea244cc4d35742afbcba8aff23561dcf615ba065e9c58ac
+size 36557
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000224.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000224.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..9fa6e26632f6aaae1625bc620c2d2085e453d0b6
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000224.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc1e0d29f8b0f622563d18255b45ef9e1dbf04a803e5a3e1a0bbfccea8fcc989
+size 33400
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000225.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000225.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..ca4e395eaa3ea26c4624161b991b0cf7a82cdef5
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000225.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:712c99df43f7e92fb6ee6e4e70495b8bb922492b3257ebb5e5cf9f28add1bf52
+size 31675
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000226.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000226.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..a9897315544e145416035e7ff11523fe82114b2f
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000226.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:000e9961d68957328237ce43a50bc111de2344cad3acb2a558f701877ea470f1
+size 33078
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000227.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000227.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..4ebf6211354f2e9c948561efe28d5546f4767254
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000227.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:32c9dc7e9b631e1aec7e8e7a18dcd6a82526e22943f1e96f82fa3032d4781be3
+size 38006
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000228.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000228.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..7e0eacd7edfb3cc0b39b5ce45f4bd9f51c37d987
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000228.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:506a8d0314525874587f3ab0e8df2ecd3c924300666113a630ce6816e1d24109
+size 36070
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000229.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000229.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..e3fbdf508428754cf411eb97ef7d73a09e4ae005
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000229.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e654a72ac4f33958ca7951474061c6215deb46b454098c3d717dfdf4e86bec3
+size 33587
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000230.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000230.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..e42f7625ee5a9fa07fa28103f7cdfad2a97c5791
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000230.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0686b0a4f253d7050c02b6161ad1161c382e08d7d1a526a6660b185cc030797b
+size 32596
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000231.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000231.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..9f221bd6b90c43797c3e9c7f611d17d53a5512b7
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000231.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5754abe9ebdff40cc4f3ffd7a29013561a36c5853188e557c766b0ee47ae453c
+size 35242
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000232.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000232.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..ec4cdc1f6d807cdffad0550e89eaeef87fe93564
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000232.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ce368e24984d956695dff4e1917af4c5175746f6beae54edf38764c7f9bdc7d
+size 42564
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000233.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000233.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..c590bb88a617c2807942a853dfefd14dd54bbc4d
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000233.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3adf0286ab3480d63ffee445e82002895072a52284a73c09c5eea85db374068e
+size 28756
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000234.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000234.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..c56fac44e00dfcea94544fb18a43039c5ac7bbd8
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000234.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:702d90f4d8f538f214f102ca7b7817e104e938fb32d2296d41a3b581dc2b2727
+size 28889
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000235.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000235.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..fda2578a85e487ff438558e0c8e47cce12101d95
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000235.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d2f14f29d99cae7d4b162d013519be6b4483350aedeecadf931d7ead64b3c60
+size 33642
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000236.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000236.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..f179ded80b201abf8439ae59467ff30bf5a2060d
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000236.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fdcf37fe32510571a3c4001fb59c7c71f4e4886dfc6172633ca353da7d38fd39
+size 30446
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000237.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000237.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..75ed39b071b901a415088afb55ebc1c44050208c
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000237.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ecf1aaa9d0238e971f4444b631c0ad38a7fafdb1985e8d680fb9779c7287d5ee
+size 46595
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000238.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000238.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..56cea653053f182be5391a442771633d258daedd
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000238.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd24b814ee8022a04021dfc5b7a4c3c907a2464632e7009da7f669101fda46e2
+size 53147
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000239.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000239.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..ffa9086f6bc0630add655d2207f8c612817cf9ee
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000239.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f329ee27a9636c19b5c5de192a8ca1079a8868a0939398a2c2865266b131bcd
+size 50798
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000240.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000240.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..90e3b774e5f8c271c5fec2810c97f896841f40c3
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000240.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:35afda0144f62a7625ce707bbf1f0459507fafa54c169349446444f73b2d27cf
+size 32831
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000241.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000241.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..d23b236f23f87519b87d11b1d182a49ebe9991e2
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000241.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5338468fcadd5302c2fd0715c047e7ea6a0a5a9354c209f594ccea18ba563851
+size 30037
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000242.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000242.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..33701af7afb53dae715ba4d56e9870b882aaef1c
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000242.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de1b986aec26a9897b9f7c541557719eb1eb14bb7f3a310676f3dfc0b88cacf0
+size 35606
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000243.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000243.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..8539c12e7b7beea209684b3f95e678ef020f706e
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000243.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac26bd2b1cece820f1f333df40894279c5dbe918a02c1bf14593cde8b56bde28
+size 33803
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000244.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000244.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..cd46bd26fdf84d24c6411bc79aa54fcb6650b650
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000244.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:232eb25f9c7bf8ea8902247347b7093d3b590c2dffe0e14fceea803cd7fed051
+size 39102
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000245.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000245.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..856e0e008598dc78637fe2a3030bd8517281f953
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000245.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:feff59b29a5150cd2b3e53f9c50fce467358ce2b9bf1a86d7ff956f8f139bb79
+size 45302
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000246.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000246.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..f5f29a57559d41bba7e2d67b0bc93437e83d12df
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000246.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:412f7205f26583949709370c96bc4d44905743cb531257180c0d52a66e4c8eca
+size 28758
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000247.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000247.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..7218a1b2ac60edff564dcb0b7169e0137730a8d2
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000247.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d50827a6a2c03e698b0c38ecdecbd7a6972ebf3c8328f829f530f8b59e31c12
+size 39194
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000248.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000248.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..825962a0daa78695d8a9ec49f6cf187c56257e41
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000248.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:557a2332f076c957e31b387ab6f439a11a4e5175143f42043dca017ecbee5d07
+size 31525
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000249.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000249.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..e9c5b341222bd887cc649d2fe81cec9079931222
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000249.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4b474f728f92ec372255649725731986ec7095003945d6d5ccc07489a77cdfa
+size 35718
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000250.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000250.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..d8191d93ec7ed4d628b263060db2f6afeca695c1
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000250.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9896f6c1244b073a44cc29e6928adbd3f573271a099be652b790013cece5eea
+size 44966
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000251.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000251.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..f74ed3da32a30152c2e17af9bd48aa86b91ec0fc
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000251.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf55d79c6fdf193a390c6b2fc676b6a3bbedfe93623529173bcf2e6138eb59ae
+size 39380
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000252.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000252.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..8cc304445b1bd1cedfc5820c830495aa510979a9
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000252.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f12855d186234579b672a6fa698a23c929332d3aee75d30e3a05c9b8365fbc3
+size 78200
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000253.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000253.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..1c0590c3da65a6f5428b0318ee60376c78b09d4a
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000253.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f96a62b582e0c6e1619ab2d593ddc2ce32ae0a6c2d2676e24e651668a3b95ea8
+size 34253
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000254.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000254.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..f7d8de5284f7900aff72f27ae2c212f960f747da
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000254.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:381398932c40ee41453da8c1b46768a6a910a1022044f566d22b425387296cdd
+size 31801
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000255.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000255.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..cd0b55bed87ae0ded859086bd5635f333af2fdc7
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000255.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e66232835c84121dd33db837f82df04587e8a6174efcc535a26baeb9ace5398f
+size 45776
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000256.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000256.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..5c2464e638d939706db8d836f787fe4a776f976f
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000256.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52467189169a5a53c87bcbe8f1d86c835aa735ae2554e7fa8f9fd123b4de98ca
+size 33273
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000257.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000257.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..7c084471b81a9c041b2e71880cb2a4489a08847d
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000257.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:481eb8439b56a236c7492a590d06f5057383f3a1e413a448d27271caa7bb49c1
+size 41865
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000258.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000258.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..985ff91336d00e0c7242346e3987db355cf22359
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000258.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d00d1a5f07ac6aa1aed999b9b31ed799c4573c69b06e047988566e64dbbfefe
+size 45899
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000259.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000259.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..dbd2379ff0712cfe45202a040e1a03f27103c271
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000259.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9624d4fe03170249632a1216ee5b9ce4df9f5c8ad5c9c4f4978684b404d0b85
+size 41895
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000260.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000260.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..3d129b5a02ec0d4558a5d148aff5584b285c098d
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000260.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b085c9b1356265bf70f7eb64eff60eb4a55089d9236feeec281194aa0cd36765
+size 39549
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000261.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000261.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..f8ae0157eabf1cdf0f8d1cf589e0849f56dde966
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000261.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da5cd9f76b7c81d917d58cc729d9e7cae80b665f217e6a43033930339060ccce
+size 32499
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000262.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000262.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..9a42418c1ac9fcc81337e3472e027f6caff5510e
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000262.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0fbebc343949857431019c9eabeb25e96293766eb8987e56d4c6fd920d43c29
+size 38951
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000263.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000263.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..4b33f5ec70d1b9001b68a4411e6e8624fb9e8c22
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000263.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7369f396705d15e4195b76c4e0301af96cbc17b3135bd1ea4a8d3a07ab7ac39c
+size 37270
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000264.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000264.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..a9840605e3abba56aa03151f757c348dcaac2cb9
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000264.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:139c195aaf102b6e6d6a6aac8f017a03c31b284da9dfabe8bd87758dc15ae94e
+size 39756
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000265.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000265.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..c316560b01344f0b6ecd1ab6a07010e575a52403
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000265.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ade45cda7644ff497d712a653396fda0b2afff0e599784652714e0665d20f909
+size 47203
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000266.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000266.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..b74431c7fafe4495cfbf75382fb565e7753f2fee
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000266.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:077d5c2bded45877bd760367124da21706781c4e17be457e39753dd1271208f5
+size 34593
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000267.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000267.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..f25f8c58e7df6025be0fd3b3fe5fd515a9009cae
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000267.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74433580b63dd50763e2478ebdffb72a8a4c301520c7fded895f2953d2054c38
+size 37229
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000268.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000268.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..c6b1d654a1d88ed3eaab2010b24db31912bab3d3
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000268.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82e5586923cd0ab8c182a232d21b5fe7ff8215d3e1f2724b686e3b346122dc19
+size 35138
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000269.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000269.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..0594c626b833651abefc1bd9a75c281aa00a429e
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000269.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e4389a254efab4cb5e080378d5fd7b4ef0d71130c48756e7ebb7ad96baa68246
+size 34493
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000270.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000270.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..19a033511d6d2ca6ad162a1290f756691872a99b
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000270.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca1063f09bbdb3fae2e6338e31f7a7b8c3c6e9e1580b64347b36eb4150efc699
+size 43236
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000271.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000271.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..11a91592bb89f47a604f1115dc1300030265e51b
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000271.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7722a70e70b143d250b1377793d49e7ff0493d60233e7e79cb6fb96cebc06290
+size 31717
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000272.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000272.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..b526a345dba8c58b9a1c6fd59c55f5ab06a98e51
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000272.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3cbb00c88e8351c0e7c4472e924ac4eb8e186a60084273002a0ab9b49cdc774
+size 26128
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000273.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000273.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..ce0bfee1a0b12fb02e65594fa2ab018541844fd2
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000273.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25dc46a80c0cc18f077d869c2366b7782244a52dbaecf5c11c74d1b13c99d38d
+size 33555
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000274.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000274.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..7fa73ddfd72ac279644c1f35c794f30a285c2162
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000274.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5fbd1d975c087f703c285e4d7239d6918c0140c60f9860baca58af9193a3c42
+size 34038
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000275.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000275.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..f292714301ae5ff608d4fcd70e0d6a0894d82f48
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000275.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4011cb36c95e656d5782feeef9bced64a1b03838536a85e135408f6e8872568f
+size 54113
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000276.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000276.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..5decf7103c9ff0e70406ef787cba452c6086d8ad
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000276.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22bc84e4df37a09ef8ad90e3fe383a5d7ac2eabb3613bac3c53e4817dcc6a5f5
+size 45062
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000277.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000277.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..d6188ce3655eb28f98fd2839d9bd4fe93832b8e4
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000277.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1cf9d02f86aa9705bf2f0d0ed5a9b4529836d7bd0f6955b1fb51ca676ef89590
+size 32747
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000278.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000278.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..5b85e69bd4efa464107e8231bf7a3db9c6d6c5e6
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000278.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:81984aa27e46b702ea4de1bd27e93eadb287d0302a515071e84ec932fcd6ee81
+size 31509
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000279.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000279.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..c888f007d362b9981e5409a5e2616e5e1024e0bf
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000279.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5b51f86874accc7df44d61b80b9b674e34846438840c6514c498b2053cb1adcc
+size 45587
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000280.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000280.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..533ccc02769e2031e3eb4fd28dc160d5552be210
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000280.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3c64f2336231d4581738e50b6ccc6d20fbe47e15b405fd16a117c5f1d987c588
+size 33580
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000281.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000281.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..3e02f2e0a41b06f0541da35dda36fe15e05f4da8
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000281.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14d4ae27f3e0670fb5b5ca6ebd8a716a2aab6380bcd41336c9b32ea187a0c775
+size 35971
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000282.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000282.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..1dd4663cc471db1bf4e1949449c3b5ddcea522e6
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000282.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68d0a74e1635ac9f375bd7051043e0ad30b02ff24d18192d3d71508ab0c9c48e
+size 26909
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000283.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000283.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..1668565ffd6a94962196ceba187e90946456863b
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000283.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cfc646c7198f5b1a7e750072adbfd5d88f7a3bf19a05dfb415c39b156728fd0c
+size 32434
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000284.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000284.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..84b6c1fba146aa8f5093f602d722bcb28f6020dc
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000284.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3be181d01aca0cb412af70a57e79ed8c71c788a57ebafb4340a17815315e7df8
+size 36769
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000285.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000285.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..1b0704b00f5c254d60203560743663679e0dc3c8
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000285.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9411dc8a4ab03186d3998fdd62115ec0313f8faf56247a9bba6ad3e5301ba5c
+size 47325
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000286.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000286.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..bc6b2c6d308762b1de453b4c66deb7d9934f6e26
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000286.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3024ea27e79d099d1fe814e3a5ba2273b0b9f9c606005a0065803970e54477ea
+size 40147
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000287.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000287.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..66f1c1e54ace789c69007b967642f67183b3a6bd
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000287.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:faaea40c3a333669a13b2883e482344c00f0f17d1beaa1feacdac7df5b90bec2
+size 33233
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000288.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000288.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..3bbef2768f2c46b28e12512630989b70b1542539
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000288.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a25a1dafec11009db84418dbd10dc746a3da34b98eedf108cc048c5068610c2
+size 43518
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000289.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000289.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..3b8acc56cb12f2e305b0a6e17d0ea6ce6d08a1c6
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000289.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2e4482a37820f67c033cfe9f27dbbb57c0c86919e29df98ccc0a70ddfb099a0
+size 44528
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000290.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000290.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..affa29f6bc19263e1707b6c94afd90eb99c22b5e
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000290.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2bc904df5ac88b42537673619749548245bd0a70895cfd55370f37afc30a7fb
+size 35362
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000291.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000291.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..70132dc91666b15c90a40a09552eda9d540a9140
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000291.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ed27cfb98e492f91540a4dbcbe5e9db7502f00d1df91747f812214136f158d3
+size 34238
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000292.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000292.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..c7ad5d747c69640eba4e6a390d9ec444bbdaa8a7
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000292.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b45323e4e427c8c537967b20f507962140939b2a9a8adb076c337dc5312fbb6f
+size 35639
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000293.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000293.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..fee1b9aca56a9f82be0ff240403a376429b8f5c3
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000293.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ceb303e9ae0a204d5caa4f49abf694fc7f872d23a15583341d41b3fdf6cfbcf9
+size 40935
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000294.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000294.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..22328ace9e3810f2d92df4d279383790514dd706
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000294.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5bebc5180151515ca68a49623f9fb75e6b5cdf45fcd099f1f21594e7a8f1a7ce
+size 39076
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000295.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000295.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..5335331262dbcd5ec94eb314ab97f78069e859bc
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000295.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:236a90301043d4f80d6066c970656c574b83007ad901299558394fa1d9d01968
+size 30121
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000296.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000296.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..ec2e799d1fa7bd9f82d1b51b9464c2ea071734d9
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000296.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d21d81f15446d4f932ca76725b7279c2092fb607499cf05dc49eeeca136dbf74
+size 35711
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000297.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000297.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..780736404e5ae05f4bcf03a1acf74940403da351
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000297.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6258f6d560619cf0b7ead7444e734c84b6e3f2946deedbb8b25067a5a6a3bb8
+size 39872
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000298.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000298.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..af03d63b57bd6511203ecb0f682c677b14cc92ab
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000298.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:148f4d3bdf0bf9968ad459569ab35d7e26b4544110ff8ed650b2dd661bfa90e2
+size 31886
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000299.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000299.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..53804334820f38d61a9cd2799fc434a76cee8495
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000299.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2bed85bd909e60396a56cabd515e917b027a96c90665053a12d433eaaecd546e
+size 39321
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000300.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000300.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..001d849bb91b539edccf37aeaeee2f5a2cf5a251
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000300.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3ec42d4e4773602eab81195683ce44cc7eb944ea2bcd9e3f1282da8149f86ff
+size 40415
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000301.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000301.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..93e1a4a8dab28ee7e18e24a5c0c445a489bda5dd
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000301.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:533232745cb45df2061755bc11f1c8e327abb425769e3687ea0fd2d5058e7b69
+size 36046
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000302.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000302.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..49cec1f84edbbf90c7a0d5f52e2817fcf6d11ce3
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000302.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e275698fb2489a363cb72fdbdc34a7b1401c84fded727310e7441ebb4a9da1ea
+size 33462
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000303.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000303.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..daa598f2ba3b572124c1925a766819e22a327f4e
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000303.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa609b2a5c6b7b5af6b1328ab1d9e421ea313d60b7494132857bfad768406277
+size 39069
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000304.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000304.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..2bd1c113462d660b6efd2085b355c11c045a8286
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000304.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a756da3b78ad045b017fe79abec25990921d3c1dcaee281df2f5df080fa68a7
+size 41749
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000305.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000305.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..22490159d8993a9c0b5f9b0c5f678147f3cb3054
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000305.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82b40157606414ac3841ed9ad0d9973a8f97a3fc9e940ae0d52f2e9b597e791f
+size 31184
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000306.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000306.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..29113fedb480b7147f0c8545d432854a039ce77f
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000306.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e9c5c9d3a5c02a8e4a6842b48f9391913ac8fda9c99cd758e7a9c8d60dfe48f3
+size 35999
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000307.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000307.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..ab7c9454c7af9c4683fadae06c5b6e341678e8c5
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000307.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1bda57e0d9972f6a147e2cc4c5eb0094e5ad5694ffafd552920a822d50dc6f1e
+size 44186
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000308.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000308.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..ed9ffb10178f3a348fe81a803fb1eb0451ed4986
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000308.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:06924755e44fac60c07b239c97e2b126e84afa51391784cd58ff737530840886
+size 41555
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000309.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000309.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..f23ad29bd6b7742bfe29de587564c5242d6cafa1
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000309.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79f37f6368925650f3dfc67637b7d853430d1c39f0985339dc37327a119392e3
+size 35974
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000310.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000310.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..cea7ea82eb20f9fe899bb395ec4092e9b74b8dfb
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000310.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c2e0fd0f4846abc1b41255744de0de459e2864400660a5cfcfd81ed7eb27ba3
+size 32593
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000311.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000311.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..f5f4441c05f463377584543cc7aa2477d29948f3
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000311.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14dd1e394cf3686ab1a2f398f706535bfa073563d232a7a0733634932003b3c6
+size 56508
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000312.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000312.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..27f131a8dfa3ef28a8dc806def5c58eee844ec26
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000312.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0684a9b4afe80f6daaf6064da411ee7851dbffdc3c53a361d445179321027bc2
+size 54605
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000313.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000313.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..e548742f6b411470bebaef832d2fa34ad88b70c4
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000313.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:258182109fd37b74724507a25ddc58c0492a3bc1a39593088dcdb09c92bcf5ad
+size 30856
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000314.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000314.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..64acee7f7e325545c30ddf8853d6833f2314d956
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000314.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4704273a621ba010678eddec3e7c296e81eb97d4e3e208e4dbe90fbbc2e589e9
+size 40430
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000315.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000315.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..53a2c5cb7fd45c83d3d46828add2ddc381784040
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000315.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05c501d783f6154eee91203ff3a637d6e63ae2f040c795ef0c911bbfd20ac5d3
+size 32867
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000316.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000316.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..672731b33edb6fedcbb8957eb1dc2ad823eae4e6
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000316.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:02fcb7a5498e194869650ea77679d92141759530b7a9053db1dd99f224a082e0
+size 39186
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000317.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000317.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..0556594ac1e65e3d185880b50016df8b993eebbe
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000317.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:374c015572e4646791bc38a495dc3688dcfa9bfe0f481bf96c7d4c5c2a1a552a
+size 35466
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000318.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000318.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..a04f3013b6bffc2abb25e72da236a01b5ea7f409
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000318.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85718911fcb042a34c1cc77570c829bbbfc189f6e2d866365e44b1a6321d0712
+size 47302
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000319.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000319.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..45626a63d10a8d9e67a74482015fade0b3e2c8a7
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000319.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f468fd89d3835013cfdb105aa9d2632fd2f4b631d79e973ed1f94ff8b5bf8962
+size 42931
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000320.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000320.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..faf1d4e499ae6a23af17e93216fa5218d7ca89c5
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000320.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c15474027142b9f7f1b65f815d35c34be11045e70ab5ffb87f8dc29b6cfeb50
+size 30322
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000321.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000321.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..9dd0c187fb27e04995abb43dc26ddbe4520b9b16
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000321.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc63cc4743c1a01be87e76f9c3abf5f474c9ee7a5c75d4364691016d332004d6
+size 35424
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000322.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000322.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..f794cc0f0433e7905dcdbb12a5b95f6da97b9436
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000322.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78693e99c8bc4c666272882f92ff417919caabc100d1ecc3aafee44368e0236b
+size 35851
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000323.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000323.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..45c028b0a091186c46e3e68c960d37ce58117bdf
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000323.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:268d6ea6017b9305c2fb16348a3c16f461faf698585488e94719c31bdc0bff29
+size 51590
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000324.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000324.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..3781591d40cf832bcaf4f5e6d3abae5a552f3b5f
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000324.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4aa7e8c9eded48cdaaa53a5fca57fd419d998ab1d97d8600edbcc6b5ec60c4f3
+size 34186
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000325.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000325.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..324f3b1b9943ca25177c34613fc7ea4000ede753
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000325.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1180f5fc888cc1365d358be8c942e5c3d62a5c73eebb5f0f2ac706655ce9a432
+size 30552
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000326.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000326.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..ca86b93aec36ec57c97adf98faca86aebc83c51a
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000326.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:78a6a55de1855b2d7ad67d2c5669f809fae29613c5300b754a9e1c302da452b6
+size 30027
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000327.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000327.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..e10b92ce25437c1577eeed2c6610f338b06e6f96
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000327.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc092d7c696d6e1b8c3b342cf28e603a7e4a60296e6dc08a5d0154d9c0aaa123
+size 36844
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000328.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000328.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..eaaf1b81a29ecebb4c3abd2fa43980118246ce48
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000328.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88dc197df3228ec79ca10a6066675c643513009530955406834d7edd74ea5a76
+size 34115
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000329.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000329.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..1a9c58f35b9e3295e513a4ae0cd5e85cf76d9e1d
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000329.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:298a6c39c0bef3ecedb9375fa4b80b9fc17714bcbf5439d97e71f1c929c0a674
+size 39449
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000330.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000330.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..806b0fa4c8880a432c0365f1a40fef938ae25a25
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000330.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42f07852e71d7f3a8fa7ca5609c57761a306323c9b9905e63328becbf3d4787f
+size 31415
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000331.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000331.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..8c0276e3798495998f1783e2736177aeb1a9b895
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000331.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da0084f440d280004fe34faa34f988712444e492c690cf474c6f84dd458e2abb
+size 48714
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000332.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000332.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..b8b7e01396d3f516c965e3717a338101691032ed
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000332.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:391a47cbcc3a41aa85cbfae15c9b56e930404c89ae7190b69e1604c92ea5ca0a
+size 35969
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000333.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000333.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..7b9f9146e06383751c8b193f39ff42bfc03c5478
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000333.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8937114e8bd7557cebcc487759d6fc4d881ddb0abf13aa49f063e5b641ebeda9
+size 48674
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000334.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000334.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..3577aef8b91cc28c2e6c5942a24d3920fd3762ca
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000334.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ee866a797e1387205b18094eecdb745657ec99213a960b92d6836549cef16d2
+size 48282
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000335.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000335.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..e04d977ab66f647b43c8bab25579f9cc73e964e6
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000335.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90df00289faf3f2739c4adfe7ec1117bb5c0ca254335ce54857a7171b20c65cf
+size 41582
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000336.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000336.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..da3d9193780f8aa37473f7af396f947a0cdabddf
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000336.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0b219ea84fb0d50ff6548272d0f3a23a182bb88379bf2616347ce6f79c13f64f
+size 46208
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000337.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000337.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..836c0e36236e06762643d8a9ca3be87c8685a089
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000337.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:924af00f9b8d482713b517c0caa16486c6a3826351905bee8b19f6b8ea3d91a1
+size 27511
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000338.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000338.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..c8c7b47ed51f24788e8f7072652683478e466cbf
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000338.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a40915d47ac503ee1fe86f0680e9a0c47f5c4b844ee22620036f418117db1c5d
+size 35587
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000339.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000339.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..eeabd80c0486f8198d97d064090c51763046a66e
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000339.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7d08a3e9aa99bf09bb32c8aaf2642610ca57d7f8370e57f4879bc9790adc7af
+size 36166
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000340.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000340.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..d4de57b7002d253966e5667cd5b73719b3ee2f6c
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000340.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c757c7f07740e178e081bd83d0b9e4383dd032d31ee771edce59622997cd772f
+size 37331
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000341.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000341.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..964a1e7c74cfe179174929f40f71fd8142a90898
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000341.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:565bf16648e7589d6618245b76db12ba8b79d3c1060ceb1f0f32daac8a40d73c
+size 44338
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000342.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000342.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..3406c5dcabc456a023a2fc67550233e67c464747
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000342.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d484aa92dcebdf5805ed1895243d7107ac9c7e347f2328f902cc878d73895b2
+size 36667
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000343.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000343.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..d492075a1b9066aca3172694540df62bb5434424
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000343.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c7588349bb95c6d33d9de810f470ea343b87e6bda75b1bbb1af1b5156de56db
+size 37299
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000344.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000344.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..d180e56f825b672860418d075a28cd7ad6e2079b
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000344.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e8228b310a5323dc434d88f852854dffd3c04598f4b7749d755f2495e4be359
+size 42340
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000345.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000345.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..b47e013aba049bbda5981701efc87fde8aca89b1
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000345.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:22155598039d618ea98e7e3bb9ecefde787e0e5f33df4ba5b8eb18312606c43c
+size 39083
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000346.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000346.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..ce99e52b8e34668b0d0c032f0bcab0954a846a40
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000346.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff33e1ce417a034ff47a2213a38e3b98f7d543712b0c5ee790c044df8c54455d
+size 37921
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000347.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000347.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..e78054a7479573380792fcc8dcd17af9620233be
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000347.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a01404763c88427b3fb0f674ab7f679174e81b31918e3f6ff08a37038665f61
+size 39004
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000348.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000348.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..91d30b45e89b32fbda9184243964e6b6f0e39827
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000348.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0382548241674c2c1b69be5d8a7db50d9a389d928229de2ab24ff350c63a48a
+size 31449
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000349.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000349.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..ab94d49e942a45a3d874eef09296709869aae1f9
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000349.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a02ac1e081b62dea80bbfef5e58782e263f0d0586013af42df199e7d728cdf23
+size 40653
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000350.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000350.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..617031437b0ae8e66a16121ab161a69b536e6e01
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000350.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a85be6801b6545d67372a07a9b5f61ef1406f76521504f3b1086b4b91d7aa03
+size 36315
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000351.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000351.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..7a346d17540181954b68bccd750147872b0c57ea
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000351.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:300fbb73dd68475a1cf171a419441e0ccf33d4c30f39985055d7d7cf8262410a
+size 42631
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000352.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000352.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..2a5d8cae5502831a8698e877f80916cec6996edb
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000352.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fce10e7133c64a852bee3965a5c500d1b77b8a8eff9f146ead82a1ba66ae4bdc
+size 37060
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000353.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000353.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..07aa2f0f7042622dc510f3cd996160d51562678a
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000353.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:072e45b7c959bc39d215626e48faeb42b25cf349ea1dc5b9410714c27ac74755
+size 32979
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000354.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000354.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..62c931a620387b7840cbc4606f668e59cf659135
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000354.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dec4e0c746901922c453788e7f4da6ef7f39b2e41fa203dfc59e3e08d5e55d34
+size 40696
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000355.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000355.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..941dc4f3708a9e6c3056848910b7af6b5ac1596c
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000355.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:321a2a57326eeedc1566ab7cd9e6e7b8d52250e967ce2e9d2feefa7a8c900801
+size 30867
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000356.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000356.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..b04e68752013262896d33d3d3ab41ccbedbc8302
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000356.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69a151b31a899656c41545b21b08486decbc748b30d780f6f63a66850aff6260
+size 38393
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000357.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000357.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..098ebe0f758903161a0f0ace00090b036efd6f5a
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000357.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55f460dcc05ff754b46800960cd53cbd2cc424b7757e562076c24a9a5fb8b195
+size 37695
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000358.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000358.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..b5be86a501f1cd828b114abb495e8c062620998d
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000358.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e77dda05ff412362d1f5d7476d00f879bdc5af52e4964472a0f248b6f50c421
+size 34709
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000359.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000359.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..c0041f8c9a15252fd8d5eb696da44b180a385a9b
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000359.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d49a544d905838091feb031b47f9ff5c90990505189000e30d2de5e984d82992
+size 33991
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000360.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000360.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..f339afd63c7e2fc5ccb7b3f3913cef0b40dfa5c3
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000360.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ebd446ba5c08c086c55c4594aa270ed06a0a0b9ec203ad7674785083e6ccc49c
+size 43961
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000361.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000361.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..3e2cbffa75aff5e2fcfb2b3eaa6d882928364f26
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000361.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:052dc6e25017868d190690ea3b4259a2452e824c70a29a83268a35775576537a
+size 37696
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000362.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000362.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..21e7780005bd21477c7d19282c9ed739b6d1aa68
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000362.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7cd1060acf8811095c928ede74d0d2811040a49b7a19d3527f046d819d92ac82
+size 59713
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000363.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000363.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..ee9371c8777430ca0bb5b6626aec0c3e6ae9ddb8
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000363.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c20de7a7fbb2f0f9701b5917fac20904e773569edc44424cfe31268a73773a9
+size 39018
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000364.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000364.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..c47e1e0fa2229d38a75e8584e83164a4d7a979b1
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000364.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eac1ab8d23c0d08741a758eff39f707aa4ec96d5aeb176eefd0d560e833afc5f
+size 54493
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000365.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000365.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..b93b897c18f53f0fb00c8ac965c02f7f844e2450
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000365.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf7f2c092b2eeea57128a2aaf2838762f46e95ebfded5c7086b59b91b95f7a6e
+size 40858
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000366.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000366.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..af36c46115d1dd5f3a8a2177b258aae017b7f7c2
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000366.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21a100837405ba5269e90cd264707c025fd21506f8d902294df90729f1feedad
+size 37244
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000367.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000367.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..86902f2ac090a621ccecadf262a993a1eef13ad8
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000367.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1814fb3220bd15693ac52e13d6d4673fc8029c10e0fadd045dfff3e6bce041df
+size 36346
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000368.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000368.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..ab45021a71dc09dc7db0e4b9de05fea36bb28dff
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000368.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d848ac034758547e026c91f9e1e131b9243c7e12bdfcfcda447464db4ad7dadd
+size 37009
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000369.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000369.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..e401f87d782825b82db10c972d05d574305f002e
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000369.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:baef2973aa017fdc386012863d4ac5504614ca36d6b4c40f518e750fbd470028
+size 39040
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000370.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000370.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..a2fb9c30a87affa9e901a502764f2223d9643fd8
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000370.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82a52cb6a1c6cc2fefc45802b50a7a8bfbfb5672a9bbf6223f84935ff819b24a
+size 36103
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000371.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000371.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..ad98a03368bde118c25121a499b4f694987312ef
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000371.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8635b44999ba9665a2bf6154b52df28ec148df28ebf4740b6acfb2e4c86b3d98
+size 42867
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000372.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000372.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..c39838fb887feaaf97019873501cbc22e796ad10
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000372.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f05bc44fd280fbe3edd80fef4564d73230f48845dcd2128f2835c40e8667088
+size 48008
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000373.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000373.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..0caf6234873f96f3ae6fd40983317d9d9cf781da
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000373.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbb395523d457b6059eee588506fa8a3f0690605b10eaa26adfa9ebfed31976b
+size 37455
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000374.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000374.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..2fb8a1360a3b86f8c5bbc2cddc3789b4923de6db
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000374.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca4911b8ca559922ee39a72c3fc6e558180183bcb47e50aeed363f7d55b446d0
+size 30825
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000375.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000375.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..284af793af0da42b6e5c7196c6c2b9233fbcd048
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000375.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04229ed59cbf2ce512490c8a4fec1b5811542faa8285a2e4624d8a54b2124555
+size 29057
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000376.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000376.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..5cc0f1fad3c011042eb84b6d570a9c0463bf9400
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000376.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c538904ce5c116c942210d89af60944e8023694fd58992fe62ce6914f3bb1cb
+size 35496
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000377.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000377.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..d4c65309f5ba60ab625a04916c690d30a15017eb
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000377.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1522a610555018f913d31cdce357ba0451474c54e8681d000616f0081f1c5acb
+size 38873
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000378.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000378.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..14a2fbd87f4edbe7561e814947f7c172185e84e8
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000378.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e7a39d99b8bbac3cd2c0d1643c2247c8f7297f640f6ccf18a81315930cc938c
+size 35251
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000379.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000379.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..f1eeb4aac6a6f8368f649c789a0c7c5fe4ae1fe6
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000379.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:638707cb0916dd5c6bbffe91028d61a2b437520951dcf7d28757840f263e370b
+size 34297
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000380.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000380.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..9559278753ace6718945cde363395d702f2c33dd
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000380.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:63bd4c6833936c823e435f9e89bdabf89f8630f209d777c01d287d0e2fe411ab
+size 30716
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000381.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000381.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..ef64e29e69f15480af6109ccc2fd5cce39235fd5
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000381.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3d140a8cb578a26f0185f6addccfc989c35f21d237c3492e13dd393ed8e1407
+size 34834
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000382.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000382.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..b7a69e9084c424edbc2d17abadf73cf8ed35b2ba
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000382.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d6d168177f7c4fd5a02498dc38349d23b58fc82b0412dd1df00c9456d2a8b7d
+size 36777
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000383.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000383.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..aaf8bdbb9019c772b001f6a15b75b24824f932ce
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000383.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2bc8e4112aea1b9ea17e40d2c32fc5dffac0ca0a57c7b8dda66577613facff29
+size 31188
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000384.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000384.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..d4ae502107a80e4e38fafbff4e8bd4e63e661603
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000384.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:975d4d56bd7d03d1032b50a829e437e21c907347fbfd8f9d5f73ee256532be24
+size 26985
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000385.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000385.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..50f1e20345d9d239f57714a2d73dd3d44b2f260a
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000385.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:142596d5902bbc81581241eb0197aee564f92f5c429ef5828c91eec9ab3395ce
+size 38803
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000386.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000386.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..865e3ac38bccc5d15426ea36b8fa9ea3f7a68fc6
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000386.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd90472f51940f419f71d249bfa654c13cf6676508e0c4b978bf0790b6671e32
+size 34709
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000387.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000387.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..152331849db046b86c9b72cc025a767d704ed2a1
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000387.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d159fd2d5effa6a5e87a7d8aef53dd6582d426d75a2b1775fb11cd74d63ba8b
+size 35342
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000388.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000388.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..c1bdc6150e5c22923b8a276f8f1e6d7c7de6b923
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000388.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e4d298f0fbd04778d80b1b79245f23a7ccae25570a18c014759f88e38d8bed2
+size 37182
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000389.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000389.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..cd9947750e8b0de575a7cf4ab6d594b9f13f1340
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000389.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6cafad65ee2da3a0c70f791ebe3aed245c175bd4478edd7d6a1d7d5c36c96f85
+size 39416
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000390.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000390.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..a889ac7a69d42dddde432935c6f7616542bdd427
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000390.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67fc7617786b35b89e1011579511722705710af4733577e4679c64dd14c59ce2
+size 39361
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000391.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000391.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..ac1d85a49e8504ed40581efada1d515d28821785
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000391.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f10bcc84c037e5d4036911a9a90e53609ba4033acb943f19f5fc86f1f986c801
+size 34554
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000392.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000392.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..7865af5dc8bccf2754a3e1a9aec5dc6acf55e75f
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000392.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef64b3e26ad103b462a7eb2f33fc6d230cbb94b50e3e0e0120e30af77e18ce01
+size 34500
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000393.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000393.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..bc8ff0e232cbc70e51aa9a759ff3ee574d38b7d9
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000393.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:695d35beb4a20ae4c18b19b85e4b18c875a02f75551b27d9e63d919c327547ce
+size 35220
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000394.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000394.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..54fd2dbda8f1a61e3b7fa36f131abdcfe2541ae4
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000394.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8cfc3c8c31029217f20a8bf8d84978715ec13177300fd373c77397bbd1eacc2
+size 42187
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000395.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000395.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..31058e2614fdfd61717961302750c3580d1ba8ed
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000395.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a1b47c15b2ae8190c1cf94a885ece068c5898360d3798dadeb04b82d54d2817
+size 35731
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000396.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000396.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..8dd1d8b6797c2082e69510202ad025cf9acb813a
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000396.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0112d97d88e9202ab1349e615611087fc6f3852175acda14d73089af01e9ad72
+size 33165
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000397.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000397.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..ccd3e103e0ab803a27631e3462599204a2fea6fb
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000397.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0930e7a0bce041cf5adf676251a883b94a14be989af5bbfb811c76f3c23d8362
+size 35746
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000398.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000398.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..03d406db85c82566265752d7908ef9a12c9e26b6
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000398.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c16d58138032b04f6db1123cdf84bcfa245e86073d60b2f8c0c45a0f4d6eb2b6
+size 41665
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000399.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000399.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..1cdd9fe5f46b1d62912ffba681951c4e6f09a628
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000399.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9382fd27d5e999a6269f8c75a33eb4b04dcdcc289d4cdd55b1527e4b7f7d3683
+size 33318
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000400.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000400.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..769d018735a449b948529f70ea42dd9b360f4bdb
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000400.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86c7723835d2200ec49baa0a2c6262b377313a82c79be8896f0ba732ca87aaa4
+size 37272
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000401.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000401.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..1b2eb49e31fb6c56bb5728d8d9913994041fdb0e
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000401.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c08d6c03edd4e574055909d4e1d6e27c1b503e2e68789d76b0a81e9d4ee76199
+size 34363
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000402.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000402.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..7531afb5d95a645be941df592107b452cfd726b6
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000402.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57d9d05335d30acf10251b1ffd595b7f67e9c29ef3394e8492f3f9ab0e022627
+size 35402
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000403.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000403.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..eac32dbbe865b187742ba55c330c305ba292a7c8
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000403.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00d0060c6ae3daa830b07782cf3c92df35485490528f8b1e716c03842da5ed02
+size 37284
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000404.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000404.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..401cde67757db428f940a0d1c96d0e6c04094d9b
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000404.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ad268cf6c29e355dd9540d73e56ad6fea48b74ffeed4daf5a27738308b8de16
+size 39308
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000405.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000405.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..96640a770156797e674db1f769601969c425f706
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000405.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:579c18e7b1e4cee4f9be7a43bac8620ee7c4ab636faa0b82aebdcd1c0b33f9b5
+size 36127
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000406.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000406.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..b483b9eee35661cb1b36216f48b964e41d3efb48
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000406.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34e3cd48a1f1edeed1b53cc6c3408f552ac8a86d35c48c5c34c1792bd4c4e694
+size 34919
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000407.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000407.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..7166d48f6ae045d715a6bf2c20539535a064fbc9
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000407.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75ef1dce194c701c0b7f0dd59cf47d45d824dd273569fe1285c1837dcd4d54c5
+size 38129
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000408.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000408.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..dc5eb80a9f8f890bd1621fcd3ccb932c189c5747
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000408.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01e1a9c563c145e966e34227ab34d0c1651a982a1dda4015dda2ebb8c60133fe
+size 29851
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000409.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000409.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..fe620e86f0271c28a3c00efb0520a44a71a3e955
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000409.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:202ed81bbfb195b2cd3e06094c1af936cf9e366e11e726a16f27424c4c7cdf9f
+size 35077
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000410.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000410.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..4aad3edaefbff87b4c19c32560a1b9d2c5608856
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000410.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e15a3984c849ea88f2c78e10885be45537bb3ba72ae4933535d3e13a26690b21
+size 35221
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000411.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000411.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..51c6a6ad78ee7934f995957dfe15f97d606624f8
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000411.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0ecbb5ef85c2b864d5d2c3e0b7bd0917d2b9fb06004d80261bf626fd439ea5b
+size 37020
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000412.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000412.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..d0581cb7ca219e1911df4eef506f00342fb7f7d1
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000412.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8bf5f0ea2b16daa3a445257dbb6c6799fa6961a7da788611cc82f7b330923af
+size 43137
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000413.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000413.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..20f453b1e4e06e6ea2beee3786636fb3e97ed67d
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000413.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f63b4a698cf0cb92283be0d7301f51e11b9ccc1bc56c7dde3774824336c3f6b
+size 34935
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000414.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000414.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..f1d77ab27f5674d916692f503725da5cb05ee74f
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000414.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:255b75d03d8ea60da139d47bb1d11f0a8cf89fa261b453c7ae39dfc3dabe8a37
+size 29120
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000415.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000415.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..b06342f310b268077d2d3960561bf39849cf41a3
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000415.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97517fd5e00e6dd94b188cb788bfacdca14ec6defcf855d371ac843d2223a33e
+size 44551
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000416.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000416.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..5c7c3a045393a2bc75576adec9786b9a1573be21
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000416.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e153829776e4e4c4a04b6f597d79ae5d9d8319ad712c0260749300890433a3c7
+size 35008
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000417.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000417.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..710f8095b9d04aa5c4c10b44e6e9f27de344ecf0
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000417.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae85c3b26e98fb19a7f429f547de7976d3db07a5a672a951fac1532ca2b32dd5
+size 31073
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000418.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000418.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..e78996bd6c7821e5d054d93689165f1e08b77af3
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000418.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e701dafbfab5c7d02c0d56dbdc9b9f146d09a6c3435e46e7787bc9effa47cc5
+size 31683
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000419.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000419.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..5950ff868bc561f2fbf56aec139c2b1d7f15cd87
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000419.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2749ed1a7315526312e1cdef4cdc799ff15b3bf577fc9609b64789641cff306
+size 36306
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000420.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000420.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..024f54119baf6f7623f962bdb2f51899828d84ff
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000420.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f25d78996bad0f6077fee95288cdc0794139b661ae726cd0608e6f453eda528
+size 28978
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000421.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000421.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..0fc945b6a8ff8f440cf8c8281df5002ac12aa0e5
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000421.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f755dad73ce4bc673f3638a4939d53084ed9460a74c3e6e83e15ab62933b0421
+size 38890
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000422.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000422.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..8b107f166a28ea25c36e2f4523f482025f2b277c
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000422.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:997a9005472f0cf30fa5cdada8a594ee8966337af74f298f15d901da07f4e3c3
+size 38770
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000423.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000423.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..ce8e06c390bd7e7b3437e3efd987be4343eef082
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000423.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10532a3f8c16e04e39187749ead2f0ce0068623fed5f50e188ea79f69dcbe57e
+size 34722
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000424.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000424.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..36ce60e6d36225f4e917a2f9f8877fc15e82ab9f
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000424.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b35e6628b04464bb243d5d1806c241a7def327fe590995b5ca0d8ef2edcf0c8
+size 42339
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000425.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000425.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..d5ef7dd9e658308ef45cbb2b24482701ab4b4230
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000425.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b149a0f963fff1f0c06fd59a76e5058e1ec6dd2efc9ffacbf8513b3a8a374e3d
+size 35160
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000426.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000426.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..8088a97f61f229502ce00d4b79f769cb52c9e019
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000426.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f03f05b707d7f32d5359d5a890d53b4bb9047df856d8049ed5cab2a44cc60a6d
+size 27208
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000427.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000427.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..3d351e446634096bb08e15b2664cdff23c251956
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000427.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6fe9054f11f5a8be9f0a43ee1a69f2a32fbbd349f5149a3fde6692cd1b3f8010
+size 32206
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000428.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000428.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..c749c0a99ead524daef3ae5ce7eba1752719dd12
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000428.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c07b8fe8c6a6a012291e574f816ba10ad03e5366f9bb21661c4a5c44eb6c192c
+size 40152
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000429.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000429.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..156e973e45a71b65c208f22de7eb38c5827e8624
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000429.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e686a4dbd6235dfb4a6758a0dfbfb14cfa839c91b7d78cb3399c3978f5c18a54
+size 33004
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000430.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000430.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..ccfe78728df3236ad512ee679f3923781ef16130
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000430.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a9c3fa79894dbcf279877372afed06b5a86c7e8d5b2d3f5be49cc1b689b54de3
+size 35566
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000431.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000431.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..a97b60cddd7515bc72ff770e959547674f23f383
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000431.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba0c6a979e78ce8960307e38c88c33d46fa1addf2d646730dfd7cb6a0a6e8946
+size 30041
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000432.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000432.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..cbc1569d33055d8a09b17c1c4d05cdde18717846
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000432.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:693b24c8636cac1265c492ee7e1116d053e61c0be1e154b6124b3acea2489c1e
+size 33452
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000433.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000433.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..137c5ed9c8406028f23f7d9afe8003e8842fc031
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000433.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93225ceddf399912a02e4eb159207b6b99c3f1af706c4cf572815a221ffc9277
+size 33763
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000434.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000434.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..50dbee42860af144fc9e7533c01dd97382d2e4e6
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000434.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00eb4aa42a822142c289f0e811544190d0fc9f6e1766e288d6e437b149ee3ef2
+size 40405
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000435.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000435.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..9ea50a47ebde97c49c19f1169c081953d71f9724
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000435.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8e2faccf2d4f30af2c98abb4c53ae267f1ce51cd16fa8d2a8c7c4ac647ab45d9
+size 38683
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000436.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000436.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..388cd7d8bfe6139ac5409e8ae32e71c6c2fc318f
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000436.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50cd461d7fa2d0bf977108597332e5abf8b55d4877660fcbc5721d3b7b506350
+size 32334
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000437.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000437.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..7c79545f2e77346fd3eff696f3de45bf3068ae4a
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000437.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae515994d9dfe122466a63b22b50aa7dbbf5e2435758d6c5febce525c30ddd3b
+size 44988
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000438.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000438.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..df374ac9ca20a43cd6129a6b7c912d9d98eb64f5
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000438.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e44434c5267e950cdf6865b8ccfab95dc999e539abbd23d108b737f4fb862793
+size 32255
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000439.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000439.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..7a46944a0164d8746fb8a53abb61f9347c4ff2ac
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000439.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38c3096aef1554b7f3205bfbead5c49203605caaabe6a05297c2cbaf9587b380
+size 34813
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000440.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000440.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..669afaf126f596b974075709ae93880968db744d
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000440.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ebef3b4473ae793702cfa6723903f517a26721c680781a6565e60105be4b2014
+size 42191
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000441.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000441.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..ab58359910a8a13fa4aaed30af0648d85e1e5222
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000441.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a254db7f58fc50dc65901e22a205fd38be5b18f76f2ee3abcd4c5f1a5df8b694
+size 47408
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000442.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000442.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..dc8bc910d0848d64d9bb4616556cd9f942e87585
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000442.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77dda8c5808c32a5fa88d57cd7ac24c3d0923a85191d32b38ab7409d349c04b7
+size 33346
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000443.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000443.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..24d55ce53840e0994fd94b632c2a6e3c7a5cac50
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000443.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:abf2152bd1af3cd31ee9f385a106ae86201a03b52cbc7759d81ade3d63d0c96e
+size 51534
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000444.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000444.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..71c40362d2e8e5c87c7e995094e1975c4fb63eaf
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000444.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1ef355f35a4c57349a52bde5e08bad477030a67e2412fa004160f0627e822a8
+size 35063
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000445.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000445.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..8ce36379c7dc8558c5151af40b089fa12fbeea62
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000445.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46f7da04831010e090a9a692117b0e3f7ce493823bbabb0ad1b942068d182db7
+size 35262
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000446.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000446.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..1768b4724894cfd5cdd4c4c7c70558696377abf2
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000446.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:032ac78824222b6fbdc1142238dca0f41be7892aa5427776808dc42f06825e46
+size 34013
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000447.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000447.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..63a0be4bcc83e6774631419df3f4993ef054a6ce
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000447.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74ee358c0354a6ba938ca2a0536fb6b07f4ee931c78d5cfc67e2cbae1809eea5
+size 40540
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000448.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000448.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..d7642fcaf28265772ea9cd559b12b798dd558326
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000448.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0f55b58c7daf5c13040de51f7ac6e13430fdf7e95bd939a4c531a37bad3efd8
+size 32913
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000449.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000449.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..0f377e0d6c9d6d0b27c1e955f33735a580be6068
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000449.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fb1eec40913f3421545ccba5409dc631d4147b0cc9e8752444ceea15d255d89e
+size 32758
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000450.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000450.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..ee06bbc1ac910d93649654267b9a4b41101b39d7
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000450.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a11f2ca7db559e54467ff737adec89a552a9cdd6685d59a0726da5cb4f0e36f6
+size 38258
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000451.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000451.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..aef0dbb21f5c97a948ef12c71a9b62fbe6f072d1
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000451.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19ce7d9d3b15c1d0409f71b4b5c8d2cab40c3a559af7b8c17714f4830a9f9ffc
+size 38532
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000452.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000452.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..05e53087e9f60a01ff7bd960d9c1731499dca923
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000452.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7be3e5df66bb9aa2c0cc03e0243789098fbc6e1cccde267503fa42964496c439
+size 45314
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000453.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000453.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..97e69c28c4115984e37044d54f84d4aff7a3c36e
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000453.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2573c89787e76e884074c90a024c95894b2350915170e09c575cf0991407d3dd
+size 34648
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000454.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000454.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..08b7eb5c87d77334f23fb7df08cda76256cfbdef
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000454.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8939bd6098d147b63d5f6d04492765a20d8a3aeef1ac24511f3a31eb3ff8583c
+size 37165
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000455.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000455.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..bdcb62a1d5d641f05ac50400830d005cb36b2acf
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000455.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db0d847d9e1df65025869ea830d9f0b08a338fa265a4b51b01758e501291404c
+size 28870
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000456.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000456.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..cd70c8cd4138a43194e7132c811678a6a7f0ca56
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000456.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5bf18678eacba980ca1e762c1edd723bc88530ae49830d7a31e7aa755fe6c2f9
+size 44903
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000457.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000457.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..fccb0c390eaf8e61e97bfb30546af440f5885145
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000457.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2baed6fea81cb06c565af9761bfa26d3294a1be27cc2c1bff1a6e9f4216a9ea
+size 51177
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000458.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000458.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..f5af2ba31db4d3bd56fdbfafcba66f61a046fa99
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000458.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3106152d501187c03f62d060576a28a69491521b56d8203aba22570b36dfda92
+size 34714
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000459.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000459.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..fd65b7d82eab5961285a267b53a416f8eec453e8
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000459.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f3a0cd7265f9f7a62778b511baed544993f4e8913783b9823a9bdbd0e9a982f
+size 35022
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000460.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000460.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..3865831ac7348a00e6eb8e968b14d803ed4a53f0
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000460.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c526c36c6bcd018747ba910b8ed6b17bf24523d7a4d8e22db2c128317e8e6b53
+size 36140
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000461.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000461.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..9ec0383c7df1ba51f6d437dc5364daa2f469aa59
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000461.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89df7edba59472a1745c6503e94524b291d41a820cb78051ff05342589cf3070
+size 51406
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000462.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000462.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..3f396960d3906a0ad6ec4a2ce2c8a215852674d7
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000462.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6218889f67d5068a4b18bf711cf94ad5bfe76d32bfa675ec138d6b23de08ee89
+size 39161
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000463.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000463.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..518fd410fe2d820bb0c7a46b3dc9999d4073824d
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000463.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bff1dc1783bce3327b52436ee0e284e342cd4406855830b90bd5f70048914052
+size 40485
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000464.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000464.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..22af6aca1c881aa16e2509e03c04039ccce2816e
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000464.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:93eb07dee2afd0c61ddbbb6611b438090aead765807bb6d38b8e49404809fa57
+size 34079
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000465.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000465.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..831ffda9065558f7fdda8162b76d9603cb0d5479
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000465.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5624805c82adfa42161a57d66c6507d51d134677113f32d854c15a1bc22966ea
+size 35650
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000466.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000466.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..55e6ee2a3441fb7d86bd3a320640224b3569fc73
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000466.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ed7abb01b343980ca2d35e2eed7689ed44a44ca94396870cb76acd89eeb0f1a2
+size 48978
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000467.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000467.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..1f3942d2fff0d79c40af8162d88921b94afb9444
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000467.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd875c169164a320a1cbb6df659b5684355b50402de2ed7c1a8cb7eff0838e7d
+size 59108
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000468.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000468.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..9234902dea53dbe2434273c4ad445bf3d0bc89bb
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000468.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cccd434df3813d00a50bb50a4d804fa63f8acf2b36ceff2021394d08a6598ef3
+size 40693
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000469.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000469.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..caeca3230823a51348c72404eff49d6cd735f9ee
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000469.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd5d89a93fe37171e5fa67ee74d5e000063763aa6728b93cf5d5e49a06bd5559
+size 56183
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000470.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000470.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..8fc30ebdd9b224947d0de094226ec58d970cd708
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000470.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3819861934c22b62780453307e1b041d7918fc498337fb6ad0ba6278e7581d2
+size 39299
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000471.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000471.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..68d455628c1c9c55b9044d4c432457ad4006c696
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000471.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:618c5a062ceacb460edac2e0f9c9378b2c09dc7ddddd6846259a191a33d518e4
+size 32088
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000472.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000472.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..b263a6a42c572d0c4c2f8c088d797b147e054084
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000472.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:70e4b5c4f6f9f155e97cf8018d190d9263e64e7e01c059f304648f56b87bd7d0
+size 43157
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000473.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000473.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..60673a418e695310af02411beb0e0654c7660758
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000473.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:755bd275b8cef54e8cb06134ce737249267de11e13f3e87c115a14e3d7c14319
+size 37958
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000474.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000474.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..b32e8256138da54fbcf3b52783d4d2e2c354122b
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000474.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fad1dbc4e1153326cefc0b22bd61ef2095c59fc219bc1d1acdc69ad6b1b05234
+size 41453
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000475.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000475.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..bbb7d5d436643c2e302a4e77581f6510f1cb66d6
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000475.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:afe88a2160f23c66e17eb9485c8f803f4790ce4c47aa116e3a66b86a3129c08f
+size 33701
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000476.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000476.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..144c2fc0af7f8b773294e9d1919da92612fd74a1
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000476.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0eecaa6f09a5e211c25f3da561641a8b2331326cabc70734ed979f26e39c68a4
+size 41500
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000477.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000477.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..b7efeb1bc59996571a348971cd6dc3c2c62403bc
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000477.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:932ac4ffb48fbe10cdc5cb7b6e7d13e9ce3decedaf9e8c24d59eb67964a57cc9
+size 43900
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000478.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000478.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..d88e55f73d56948a4bb0c2649364702aaaa1e6c5
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000478.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29199c9843576c011d2401511e784cf55ee516a6c5c1f5c033a19b325baabe96
+size 42531
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000479.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000479.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..3bc8866cd42b4365ac21f056567a40b7b2641b81
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000479.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0ef4ed8a5b44722428e594bcc8dec94fafc5e6a78698cc82077a2a34f681d5cc
+size 34794
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000480.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000480.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..8826dc3e3f253117a32c54b419c58e458b857e39
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000480.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b54105fa9efa2f817e21f8adf21b9b9faa39f4636d66410c159b7a3273cabbb
+size 31759
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000481.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000481.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..a96268000c105ee5ce1fbc99cff75c59e929e7d5
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000481.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a803a72d0273d7aa21a5f6e5fa3d9ae63158e51f8f9f0cf92370ed577c20754
+size 35433
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000482.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000482.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..0cfc3420e42bba6324abe704242b9b852035172e
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000482.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f34b47c2a3152281dee2080182f1966475d1ca7fd5b6db3098fe4bdc80f011e
+size 36037
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000483.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000483.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..cf3382873fafc14b08c56c67b68769feca163d12
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000483.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7949418df99572314d4a479b565834cf10af829890dc8a652fa726732c1f629d
+size 39438
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000484.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000484.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..0fc94956511690e80c9f52521aff0b968a785946
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000484.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3052dc429d02bb75958b3c617de0f7ceb7541297624275f388da64a12f70f20
+size 37925
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000485.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000485.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..f40c1215b91f5b102afbd7e33a4a589448d407fa
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000485.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6bb887659d8bea8cb1c7d312084d318a0e754dad77b736266172d6d393358e1
+size 34513
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000486.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000486.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..a17aabaa2b1de57545de6c1944e169e03ca3b69a
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000486.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a1425ba37d8f374bced9b8a09e78ba313011503efe13e0559983db1c4f4fef7
+size 52174
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000487.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000487.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..ba45b2348501e0900de0796be52363511c9580af
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000487.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eed6f783e127c8fd83d49787be42215fbc7277116fb3269e494cff8f35548c7f
+size 39263
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000488.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000488.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..7d9c69ca8ff64f4c8b29a8c927788e56f38fd812
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000488.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0899310805f5e00d82b2550619b1a43a2ea60c5415964b81ba64fef03439c7c7
+size 32448
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000489.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000489.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..2fde2f1d560629cbc7a3a5ad823d166094284609
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000489.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43c117093e08a3236851387995a38c87e4166998d8595a8cb243417466bf499b
+size 48805
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000490.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000490.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..177ee56d701d46867d42bb22b4bb63c420985146
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000490.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3fec263d5d0837c08a10d6b6747b037a569cd5fc151748c3f32358aad46a0f5b
+size 44490
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000491.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000491.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..0543692ded3b80fef4b6c481eedf0eba5d77f499
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000491.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb238f553454dfc7104d9fac7276181cb25c9ae2f4c6f407abf7e06000c07645
+size 36158
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000492.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000492.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..07ab5cb7fece6e41b0a4266123627127501ec1a3
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000492.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1cadff83bcfabc8c7aa30bdc1ab93901318724be64305c859933e6a9d3879ae8
+size 36178
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000493.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000493.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..c5c45996946f5896548d4336d581757757ee81ac
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000493.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8120ad6c21d2c245fb7ce23b80c0d71cb31786a5e8d5220f46219348171fcaec
+size 31716
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000494.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000494.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..6f312c167f8ab2e3a8b8954c08b94e2e268cc7fb
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000494.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4994cfe13abf65ea55ac1e4a72a1b29688f07a53638fbd600e6dbe54844c976
+size 30060
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000495.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000495.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..fec6439f5ab7a76f98284ce2a2516ecf8d52ba04
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000495.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2677c505cfcb03f6a24923b215c3c72374287aaaacda2ddde2d7b9b8ad5f8c32
+size 32374
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000496.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000496.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..fedeb7244850fc9fcdf06bae85d2838b34d28650
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000496.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a55ce356646bcfe1e1033e1cd5a87be8944a1cfdf971ad5ddbfe1955566af8c
+size 39560
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000497.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000497.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..a50e7338a770894c44c7c8eb15b5f0dabdefed63
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000497.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb5c9a6585b01f2d41e4165e6893fd9a653dd655c863de917020cab5fd050ff2
+size 42874
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000498.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000498.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..78be1763bd84c18d9d79c9a21a18d4f85151e7e8
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000498.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f76f825323cb5c6544c24bc45d01629b73a5dc283bc6393441f6ef2ed67b039
+size 34636
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000499.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000499.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..1db106cf62715a8de72ecb3075acc3fa57a8bd00
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000499.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b43871f22a671195d9bec313db38b43cc03dc6eaab2c42e1be2542bfe67a879b
+size 34127
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000500.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000500.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..677a2af25b912701c6b5bb387fea024b2215e296
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000500.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb8dec2968c9373d27f5e50cdda01a0f7d00e7fcb8fa1d4aab47fe913a5de670
+size 36648
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000501.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000501.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..f4b0e1351ca0bbb350864c600a829427e802d1e6
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000501.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:978c85bfa82cb932dd11b270e29901eaf48f9ceafd6971c7e36833106dc6b2cc
+size 47059
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000502.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000502.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..93282ab7309d126ed5e6cfbaf872595046052ddf
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000502.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d0d44fe3815811367505a4b32a14aa47a4509b8651c2256795709e56f8bf340
+size 32972
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000503.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000503.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..7d24bf67d6e10017e0b8d872df95ededcba9b746
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000503.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d52894c6e66662048ddb0cb36a8fcd80554d348885a6015bc4fc7b5d83dcf460
+size 33285
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000504.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000504.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..a6c59673a3f5e4746d371a825571b9733352640e
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000504.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:50c4aea2a536af3f4d98bc43b7ce57863d2bf5d0faaed47b3364309338e61191
+size 36072
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000505.parquet b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000505.parquet
new file mode 100644
index 0000000000000000000000000000000000000000..479a46931efc7956a0583ddeee9489dd68795a45
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/data/chunk-000/episode_000505.parquet
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb484d22f91df8204caefdc581e91374cd41b3f7caa5fb54b85a9f20fadbd410
+size 47314
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/extras/episode_000049/model.xml.gz b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/extras/episode_000049/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..25e01a09be4801734abcf50dcaefade6bdf77d4f
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/extras/episode_000049/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec5e32985d62a586914a22e87a68cc9d1eabf7ee374b1792ac5623eb99cabee0
+size 58253
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/extras/episode_000049/states.npz b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/extras/episode_000049/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..eef8d9448072f930f23dbb5db975ca9f15f00d17
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/extras/episode_000049/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5322959b56a1911719c2e96fd168de3d3040c6c7314de3d1fb6bdb5d1df8845
+size 183934
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/extras/episode_000259/model.xml.gz b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/extras/episode_000259/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..04e7b68c45ac4513836bda65d6732fb851a7a7af
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/extras/episode_000259/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:870f948f838743e9f745729b7985ae74bf1e7e7e63d2eff21643f00de590d32d
+size 80890
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/extras/episode_000259/states.npz b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/extras/episode_000259/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5c8480e8a61b4115d7ffdde88375cf970a70b721
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/extras/episode_000259/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:946140e0c584388dfa210781508cff154f3c9e7cadd3025dec3a26f441a7f9a7
+size 235097
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/extras/episode_000272/model.xml.gz b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/extras/episode_000272/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..a0d89ae08d953d6c5c88922925b2dbf91e4a52f3
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/extras/episode_000272/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d9c368789935d1d66042f310d95a232be0dbdada285869186363a8e764c7794
+size 80520
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/extras/episode_000272/states.npz b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/extras/episode_000272/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..6dd6c229d186e9bc4f7e2ef7934a2e8e8cf48a1a
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/extras/episode_000272/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2093e0dd10e22a83d345cdf993b60304102b4a431a9ee770e35480fdcf7874d2
+size 138402
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/extras/episode_000306/model.xml.gz b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/extras/episode_000306/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..9ab629e9a2b9f67c98ef91726bb4e7a972c65cf2
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/extras/episode_000306/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4526d8e0635d3bb83726fb19b7ef2adf0b4de9ac6bdfab49d94b63dc27d0266c
+size 80433
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/extras/episode_000306/states.npz b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/extras/episode_000306/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1a918d16ef4c7420026b9937c47ac1bb318cc339
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/extras/episode_000306/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:37ef05b95389a2173a85e6cd8fb8c9777c33cacb69350ca4d56341d2d4cb58b9
+size 165922
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/extras/episode_000311/model.xml.gz b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/extras/episode_000311/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..03a452cc9ab3f2e3e7b6b75468fd65672610ff61
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/extras/episode_000311/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:326781c6114460efccae25a3b6fff8769f3b8683c42740d53738080744007d59
+size 57690
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/extras/episode_000311/states.npz b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/extras/episode_000311/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..43acba1b6084f94a824e955f0beea50b0335377a
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/extras/episode_000311/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2f50f0b3a5ebabc3357a5f1cf2d8cb63d36da4c038bf757e57712ba536643fb
+size 301258
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/extras/episode_000349/model.xml.gz b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/extras/episode_000349/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..da1cab834fde72ec8a9456ecadf6923002e612eb
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/extras/episode_000349/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1ef5c1c972b66d845f8cf9fd0b9ea80e2b3a6ff0886c55b65076b828dacd3df
+size 58114
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/extras/episode_000349/states.npz b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/extras/episode_000349/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..405bf380762ed27ae4d5e28ca64631717df12efd
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/extras/episode_000349/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8891458fd417df3c6ed3d12ea468698ea61e7ac43ca2068cc258abc6b594da93
+size 201205
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/extras/episode_000382/model.xml.gz b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/extras/episode_000382/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..82a6d9d421dbba0a233108881b94cfc4f096daeb
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/extras/episode_000382/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2b3d38ef1073673e316b83715f2f908d6208b531db7510c0a7c9ef8115f7972
+size 66072
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/extras/episode_000423/model.xml.gz b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/extras/episode_000423/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..6748ad88bb5f667dbc5132986866b27a25d4b87b
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/extras/episode_000423/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7085b2a16a92e20bebca170c5bcbce7038862e9170271a9c2066717774d8ef76
+size 63294
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/extras/episode_000441/model.xml.gz b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/extras/episode_000441/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..bc0ba4296272fcdac6e9fe7a79e6f451d6ccbf21
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/extras/episode_000441/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a3161a7f54db8901e9d728c4720c267cd2977bb24558389ae4003c375e9c64e
+size 40941
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/extras/episode_000441/states.npz b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/extras/episode_000441/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2ba1390bc3a088cc5a6d1db15f8c44a651b1017a
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/extras/episode_000441/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e03f55c3fead1e290c42cf582a935d0f91cc3db0f69eb4316fc712df9e7e6186
+size 251811
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000000.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9c260bde1e77f8ec2bfd63f333be5b288b026178
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4e14d263e8fff975319aecbb2b3e2bdeb7a21b7cfd66789804b492d2ff6bb3c4
+size 153079
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000001.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000001.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..96c4bfbdfc53ff8e8109966dcdda503dcb50b0f5
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000001.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8fcd0a2f3bf53e59065d0736fa87a3da942855a191b53df2f94813bf903bd7fa
+size 146798
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000004.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000004.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..aad6fb5a54d72cf4bd599485ba26282dea62a066
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000004.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30394012ed7121ea0c9473e084b89c6a8cf35200e6bfecd74ea1303e6235b2a6
+size 107625
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000005.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000005.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b9ee31deb0d8999d88d2560cb1abc677099a26bf
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000005.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e151b35c8e49439eccae3d540f4da9216da9e742d5b0aaf4fe622ba373a40288
+size 119933
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000006.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000006.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ca5699e877243bffe0e59ad38100a46412940bb6
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000006.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb597f68698ba86f7a72aec255fa9ba1ce2cd57ee8dcce2d3a470c7455474520
+size 171439
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000007.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000007.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..475ae45f987a8a39a8192adacbf1ee305d7626a3
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000007.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ba0b1184072f12e63ca4ca96da33e53fcf74f74008f470e9e74392623832a301
+size 142442
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000009.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000009.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f9a979e50907fca75d5f97b8842c1e554db535ad
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000009.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1a05d86406bfe5a85370d592b5191ee0c9afd4c8028364e48f0eb4a1995685ef
+size 195157
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000010.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000010.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..115e7e4c44e38ba3aba28f79fce4667133816144
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000010.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3220b3cff2c2eaa989c1bde0343030ad9825f264ba12a4a2367cb9a441cbe705
+size 125180
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000012.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000012.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..764d320f86b45008dd8bba889abf5c0a9d5ad891
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000012.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9fa4f4d313f372a0986847d7062a80eaa584931fb869f282a5f977089c4781d8
+size 122048
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000014.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000014.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2e133f16c9c8ca5aa3e807149365ff9cc81b9fd2
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000014.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7c32c6a169f385b5bf05f1ae649b250061d96e459bfd5985c1195c65499bcb6
+size 157593
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000018.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000018.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4555240961142d5d7cdc78bff7903efee42f9056
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000018.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e6a6dd0afe9da96cc9e28cd246a15b96e804d29d6f202b984adf2d52f1ee1b6
+size 147806
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000019.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000019.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a18b81f53b9f46e2288392e5ec59763d7b053dc5
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000019.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0263eaf73101580492fbbe589a6af987cf26c98a3c810736c1cd3e9a634e5b96
+size 122847
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000022.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000022.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d7068daab12409ed2abf5733cc054289319d0831
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000022.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6eb4e92eb5e512b7f9a1abd7cf72663fc41b0f7b9844b19e716d0eac932f6a4b
+size 153663
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000023.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000023.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..87daa048d9904da7f9efcccaf122eae7ae4815db
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000023.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d3038db7562a5593e63fad164e516eb65e6133a48d0227e0529e8b72d0296be4
+size 118099
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000025.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000025.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..10a0f7688f7ac697feb09750658890e683e9fd61
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000025.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a1b68d6c733fb668ff0835f7976155dc6dc09f0365d3cd2c76c967316598cf76
+size 176219
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000033.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000033.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6a97d93d1c1865b3632c123623197d3b4994ad73
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000033.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1856094391de76ec8938a82385a6d3a65312ab6dc37ca002fb027a9ea214fa3
+size 109207
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000035.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000035.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..555309a7cf70455c0546a115b862e58514b4d5cd
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000035.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d292d747536c27c6568caede6333732d1139e22e5b04cf039bca3bea8fc120ef
+size 95057
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000040.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000040.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..17e76395bd6bc9c840bc69f4fefca07aab781015
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000040.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:314a5cff87b0088e79144e7567779300b367ea53ecb28b47966ea3536046e275
+size 166551
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000041.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000041.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..16740427b07d8e7f8e6f57c7e36e60863406b3dc
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000041.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:585570789b5e422494ba3044af1b6646cea2a96a7e8bd8f6689b30d3e832b1b5
+size 120727
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000045.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000045.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e374fb2ec7c1e67b69b2e1d48802ad1da75f8d88
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000045.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:52b607fcea529495e5f84c0bcbb8a8a95d6b474e37b6d6b88e09f48cab356562
+size 156554
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000048.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000048.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..49c2faf7e40c551e827d8a3f65ae22947770ffce
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000048.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:80adac39bc30dec7bfc35cbb1b9b038a9eadddeabae310b92bd5ce1d5f6bc086
+size 111858
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000050.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000050.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9ce57bb372c2eb5899fc12a706621866e5e9c909
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000050.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f99341aa2512625af6563cf2ebde782802c10facec0071d146ab83b63b40525
+size 124361
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000051.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000051.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a5fdd14a1cf2121bca412078d181c9765260a037
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000051.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74e8e98a666c16bd197cad260e2abc1b47ef6bc3cc7ba40e5c05a6934c7a68b8
+size 130094
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000052.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000052.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d38a1ff9245cb798117dd0d3e8f7d22b387024cb
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000052.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5dfa1b469f54ef9bcf9b323eb9879f1021f10a207cc8064f4e90a1d4c8ec6a21
+size 107618
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000055.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000055.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..05743b5c7f45b49498614c40bbff1ccadb2378c4
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000055.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:344b44dc47132d0288e3d56d4584b3c0bb70fcafac3bb6cdbe31f2cf55681489
+size 181572
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000059.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000059.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b531ca966ebbeebe323d7e485701e8c62b506295
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000059.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6db623f7733225b2753467aaa5f7ff770a13815fb2568858a8c884e5f6563eb
+size 141600
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000060.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000060.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d050aa91adfbaea94348d31c369a051186dbe523
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000060.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3fc1c965bef9fc156dab58decc1802d554df695abf03bdfb63b707d7c64b2bf
+size 138977
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000064.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000064.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..70c6e04c3cf5cd2a915688750cc0b58fd18c9280
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000064.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:078ec12836f41d8b8f37257fe1d054863a144bdf0b66b13cfba0c25ee7ac562d
+size 127283
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000065.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000065.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..83f679d21e717033872a8ea4f95971025a7da5d0
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000065.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c74feba428d9a4ee78e03c9901cbd95fd878d9078c44a46900709eb48f71078
+size 118040
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000066.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000066.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4a660a40fe9b0b1f6385d02e3ab11a5d1efbcbbf
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000066.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f7be817f27641ff87fd7f21eb30dc4dc2b2803a0d03701fb8217705e0c5e97e4
+size 126979
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000067.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000067.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..717e3a1a3e234d73df2a138cb273e877e36e4f8a
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000067.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:203354c0bd8437ff7273f5a98dbb1ab24885291e44377bda93cc3ebaa3650147
+size 213576
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000068.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000068.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..282c7442ffbf064aceccf6b4ea5bc584c60dfcb0
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000068.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57cee63a64d5c57c75faa67909177b1669789732ac96111fb614bff18ff8bb99
+size 189985
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000069.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000069.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b6b048c418e971b921979e828a05ad624290f62e
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000069.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:53605d674919d1b959c4c30a922b24079223456fb502425bf3341d07f8e4ed51
+size 99567
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000070.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000070.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b55b72163d81371408776393b4d393048e9f18fd
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000070.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a148d3cd852fd7bb67e152ad0810aea926d4a15edf85bf921dc775726787ebaf
+size 140419
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000075.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000075.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b3ec19081af551de41556fbc78dc086acd294086
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000075.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6bc52ecb62de958395d731400fd9333f78208c5b6f22a4e992e84119dfa79fb
+size 126872
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000080.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000080.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..38565008f3aaa02912617820a303d2bbfc99b94a
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000080.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28569a4c6339879bc80b867f6d8f263f37bc70e3e24cd3c828aa373aea8c939c
+size 115740
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000081.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000081.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..75cef4488ee7cccea3b8de06bd2ef718bcf95f74
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000081.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca1a46ece00f8022ce6f01134dda850cd7bb2c485157020d0141944ce096ce38
+size 159897
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000086.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000086.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..17d0e7bccf8550b2af1d222e3f0d2409cfd2254c
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000086.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43b1baa15b897abced341505ed08b81229068de87d3914e5c34cfaac61359ea2
+size 105329
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000088.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000088.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a54e4717c8e90f104a90920a393df66a1c6b7085
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000088.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a703e7c4b0237f308acfd289a118fddc3ab8d8fff5fbfe020ee0d780d39492de
+size 173587
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000091.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000091.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d317f57d1df1b2fc4dac11319af48bfcdcca49e4
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000091.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cdb1803fe2340977176896d187e3debc37cd68f5d875112608f306509c9c65e7
+size 99651
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000093.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000093.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3c2d34ca22a4160d09a21e5f0900434149606d1e
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000093.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6878ffe632197006c358eea2411a7024379443882ff899e4f56c3bab9fdf9cce
+size 131280
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000097.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000097.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..274e977841f581693bf13fa84f1bab8812617e26
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000097.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75428d13fe02730d4630040ebdaa369fae6ce7d241feed9be252d6a4794a6c13
+size 85776
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000099.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000099.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7ea5f47136f6f6dba0f76d96e497a69d82434afb
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000099.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c1592f256ad06d9957b741706360a666d371c0b1e782540b62698d44a45075f
+size 128348
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000100.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000100.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e1437ff15691dec437bcc54afa29c415763135b5
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000100.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2b8c5535a2ad542f833d7801b7e852dcf027f7a79e13b80ea516b351ed7b175d
+size 103200
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000102.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000102.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5bd38b374736b9847bc1a20478b6f6406b3b2f23
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000102.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:28d45ddedb472f29556689314a082d39b5da1b7c5fa409fcfd2a0a3ec9fac47a
+size 166331
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000104.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000104.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f90aaaefeab32297cc5798670ce6c8062af49f17
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000104.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:939a1fde30b84a5a197151b50752e5e86bc54edf705d47b39e816e4cbda15712
+size 144872
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000105.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000105.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7d2fc59cf9bf814637c24a33ad65251247e4762b
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000105.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a72dd3b4dc02e80957a7b27b350a7c46014d0d9b12207dc1552315056d3989f
+size 127744
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000106.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000106.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1b984edf20b38f04aede8a5ea67b6559dbd89f94
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000106.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa6a7bcd947437dae079b6f62375e8b60af9cbc07bbb97cb545312b3bd4b83b2
+size 186018
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000108.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000108.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a44b5ce5e4172d4a363c0ea2c8a991b378b16327
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000108.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2bc2caa95d1dd91d19b93ecf451c01f9c4c514f53ae2fe71962e849519f6cae
+size 123213
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000109.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000109.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..eedee72c145f29777dfd92dcb89d333e7a0b920b
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000109.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:daceae219da2bfde5d09c440fdaceeb3a00065d1ce3f8843b95dec84ca0dc369
+size 110335
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000110.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000110.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f25aaff41d3a03d313b72affbb1b8dd869cc98a7
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000110.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b038df205bf6275da0221ae7217a5f8cad831be9f691d962d5b5e6b7a85bfb4
+size 122374
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000111.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000111.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..efa515069ea86a25e229dc6074a74c31f71ead3b
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000111.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f004d0b1767b8a77d2b594148a7be7ef0162ee33e3636073a7293809725bbb8c
+size 133289
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000112.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000112.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e8af4f4e0c6ab3c36aff6fdf9555b1cc549b6b2d
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000112.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2ad965ae1e8ddb8dcfd6a5f14304ca3956352d0cca05bd96861208113d1434e
+size 160036
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000113.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000113.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9303903f15ff71fc4a5b25fc74081d17b524e8f3
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000113.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:341d949e3c664807890def631da7c852b3df50a18d7b907a5ba87c1924b5505e
+size 120668
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000115.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000115.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..09191acab53896ff0ed52957bb481d45e258c461
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000115.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f855fa0e1b46d71590fa7173c0e33a7363b00cf26330ad1b635c91e73cd16e6f
+size 141316
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000119.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000119.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4178244df2cfdac1682b0b32d622bf2e81af20fd
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000119.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00b139fff6e7395a58c6dd40c1a03bd24b99e52383b50e78257ecd83706e84c8
+size 133622
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000120.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000120.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ec73dd24d4e7b5b0a8fee7b019f0901bc0df8d1e
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000120.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ea29c42e6b01bf6ad608e36095a0d7131138c1045dcdd3c280449ffa8007e13
+size 112367
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000122.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000122.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a1ad9996989389ad736902c812b6ac284fa33d61
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000122.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3cda0b89c91f5d8629142c49875809d383209d40acec6e9a043a65e854477d55
+size 132997
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000123.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000123.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1c9865e678343a51a086e2b1abaa147ef8560b3a
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000123.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ca66f9668f019c37de57f6f640147d8c3d92da752ec0582bab9848d25f7fe59a
+size 173261
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000128.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000128.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..49b26394cbd5419ea71f8ef5a095b7356f0adb50
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000128.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6c223ee7e28a39a95a307dd86c61e2a321eb17062458e2c52da1db343677165
+size 135640
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000130.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000130.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..48b7b989ab632824d688e7e574beaae61671757a
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000130.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:531687c91f0fef7793c9188c633318e16ae3e73875895cdf0ddee0ca08d00f60
+size 172280
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000134.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000134.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5af3ce1d7922bfc672601fa5fc694485f628f26f
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000134.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1fddfe7109495761bb8bffa2092e61e984de7b5eec6132b890a4dec19c19935b
+size 126630
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000135.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000135.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..831ccc2c44850c7866958ae9a4b6a4c264751f93
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000135.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc462adce2ab640d885f0ecf0b663414b4a43a03d33bf837d4c0e06a6c079fe8
+size 162588
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000139.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000139.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..66020de5d8dfa926fab1b37a130110fcfed0787a
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000139.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:439195558f268087a1b8512feacf4499920fe4c6dfba3419ec8b33bbe2767763
+size 141872
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000140.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000140.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..585586a29a4bb66865c56a0fbc8f246a6f6ee10d
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000140.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2a8e73a305e5f1c60c0401254225b26bed3a867471a07db0351c13feb83de5db
+size 115332
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000141.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000141.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fe5bd465b0035ba0b2e85e8f28cc0b700dc4bad8
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000141.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b3a1164513d5437c39cf9c908d36ce26bd18f21807344b291cc0f8f67e4201fc
+size 112979
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000143.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000143.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2bbb8b4da07f9bb7d20e0e760c8ad860616e0e99
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000143.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:869a2b97e815bf16d062ed85b9ccf07613c151eacd6244aba08661ae70decee0
+size 108141
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000146.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000146.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..93dc8af59020c01d6c9d337253874f3d534b984f
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000146.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33581446dc2f7851cf1381ee9f59a514d16281c08f70bc7f5bf46ad67af56a4d
+size 125871
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000147.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000147.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6e63f847842aa5914a9183f208b8ef0922b7d635
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000147.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67b7d7ad35318e4c988aa521e6b0f540a5dc4b73931bd8161dae0a3a87f49d6e
+size 143171
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000149.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000149.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..789b3de99f3faecb0c0d1bd23016b096e15beb69
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000149.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b329d100fe91583928b2cc4e288edbfc00fcadad31809899693a6ee3f7e5e1d
+size 105006
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000150.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000150.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ae3e9ce0ae2bed17f870d8b7080148305007b8cc
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000150.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36ac7a70f08379ac51cb01af38a1852b8500ac6b2622464fe25dc3d679e564a0
+size 141791
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000152.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000152.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..71434765d9597e8fd034a6f0f4c622993da259d4
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000152.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0054b14e48eddfc9c54d3ef07597fdf4fa7f197240ff9d2aeef25d8785680bb
+size 156133
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000157.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000157.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..86788600fea4913163ca288d49c0537f40ee5e73
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000157.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4579aa6567f6546198c254d97e282fb534b6a1f6449dbb19574d266cc6f3ce10
+size 108329
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000159.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000159.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..37aa71a7714efc5d32b951563ee8e58e47a51f03
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000159.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0edaecd53fd15f6f9e37f09bc4889575aab971ca4c7765e1df794de2079534fa
+size 110930
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000160.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000160.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9cdec4ad7dfc079be62c3cd84a1aaed79fd0ecb8
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000160.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4a8f1ac1617130d9b5d3ddf255edc21a7a8e8b80f7565a471c4aaf2f36a64c1
+size 104881
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000164.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000164.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ea93b399a907674cde2f2f14ff180b4cef64919b
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000164.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31f623ee5f274206103bb0113bae72f9f1bcb6d69426eee2f8b3bc43aa0e5244
+size 116274
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000166.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000166.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9befa89f52a8ae83f3a660eb9cc22033465bc549
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000166.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9326d8553319af5c3570ea54d5ffca19ac7f5d8443f33ecc995a0d43f5bff64a
+size 100672
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000167.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000167.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..13d257efdaf48a76df1b8af58278813f4f58b3fd
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000167.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d9e98aa31b4b5b218be441a31fd307de658cad7f00aebc53cb25c519e7ab21e
+size 121457
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000168.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000168.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..11708ada1a2c2eaf1ffd163cb48fd1919908d649
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000168.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6628ac9ee651355c22869d23c332b1e3b59ea1869451090f49b119f9c933915e
+size 124360
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000169.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000169.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ee453917ba2f402dd5336bb7cacb8ff490269f4b
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000169.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cb5c2438dd125a18faadb5f3978ba87cbb4df829a80e41a349d2f8af56ee48a9
+size 141141
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000174.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000174.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..716195f561d15152e2952cff9cd6ef80de6fb3dc
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000174.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c97e4002c819ef4a4ab6b44c3127cf0093827b644b50bd5fcb0f0010a071eadb
+size 116388
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000175.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000175.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..db97c4cd7e367fe08987f219ab3b8fc7f519974c
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000175.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c926c8b57a5bb2e3c7ca485fdd62d5f44c83f9ebf129d7d95bba7c07311b3a84
+size 111931
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000177.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000177.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..057c5a0f466c8f9c21cd5829f461b81d23ec7e81
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000177.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12ab1a4040b62a2220dbc3d4bf11fa62d018598d3535530826b5e3260a7f10d3
+size 105258
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000178.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000178.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2255916a68a779655f4ae815286db29a160e0ed3
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000178.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a2a309ff69aed94a9be9948a253b9649a4f92b95f960b010a1294dcb3cece85
+size 173221
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000182.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000182.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5b551e6ff5dcdeb3c101fc26b314f9a6518c314b
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000182.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f0a3bc77d5a0205b66923de271e4ea30b7225e2d2f9f7e484f57ce5e0700756a
+size 107648
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000183.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000183.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b7f6106d12cc12eb265b34420bb16cc369841667
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000183.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6d0a535c5375c4d96f44eef8e5b08c13b8f428a8cd6eba80c2b66405b5c429d0
+size 129739
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000189.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000189.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dd48a60cdd5fdc2f4b4d342e21741902857b7982
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000189.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:445aa3c0b52923331ba1a8e84bb77f218d093cf395035f2fc484bbdf2a2ba23c
+size 105762
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000190.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000190.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1af2d313237c107aeb2b33b9b18147df3c191735
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000190.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21dbb7842eb69437b6b2b7e8e690ff4b0c9ebfc5bf594ba7adc377482bf1f5a5
+size 151650
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000198.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000198.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d66a98e262a2b17ad27afbf065d3732b37d92f62
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000198.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c26d7752c4cd39c5c090cd87fbed0cafcf6385b02d98df16a03179c6354cbd49
+size 174886
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000201.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000201.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..21e905457a1b433a06941f3a4349cf23a0b3bce2
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000201.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9af004f81271dcb553f5032fe59843d7b6bbff19971c5f24650b92182e4074a4
+size 126878
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000202.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000202.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4ae34a683b4c80976c9d2176d252a0acc011e564
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000202.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42c9ef3b9d64af1b4323cdd05f0422aeac188b1fd741ea310db6919eb6526494
+size 190651
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000203.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000203.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..144b07b6f3ce0a079e9f6d6a023d5fe3140e12b9
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000203.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9bd3b3dbffd256cf82073a8dcd20768df3dc023c57c0fa57d24b460dc14101d6
+size 103442
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000204.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000204.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7c8f2eb90c5ebe982bcf8f2b4ac5117ca9323314
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000204.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5db939c17e2b90c8e5aad92f1f4d979934b22b2a62396e8429f89ae14251bd9c
+size 117264
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000206.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000206.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..488eb2c082efbbac6ed51c9092f1cf571a277241
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000206.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8c029e4d4cf86550c127bb669d15d5eb59a1d9fb4b990e2e69c9cae856808b9
+size 125488
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000210.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000210.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..37352293bf7ee363b06143926b74de4edec0cfa8
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000210.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d67b5927df5fe05b068a7c620e688d3a009557327dab80a805d78f7f16173ea
+size 119256
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000211.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000211.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0d7d503e1d2cd46ee86557b05fea695ce5e464e0
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000211.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7bebac235e94cd005e3241532d7552140494fc695893819061c0a8e3a174ebd3
+size 178882
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000215.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000215.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..59c4ef808932a0182bed3cda8d288a60a36a3944
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000215.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2cd421cdffe989efe96533bc71b818b540f489cb381263d2c1b35d9b0df9ee7c
+size 184461
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000216.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000216.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4987212e0a7fa4ad7a8dce02177ba71e70094a12
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000216.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97b2d50f905b532c9e26c9ac1794f1567bbd43e1a013f29366627db168088a7f
+size 130005
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000217.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000217.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e4a349e277eb69e00ac388993315fc79bb3c6fd1
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000217.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbea61588c9d03e46a7270f22f0685878b3bf6bbe8629450a87cf52522feb159
+size 167023
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000219.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000219.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..324477255572d691a154bd5626fd36095024cfad
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000219.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48a45ddf29dfefde15836946dd7c8a50f2c7c6cf0adddd9164e9bad82eb28b21
+size 146496
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000221.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000221.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e935bddb7b29549cf2d7da2354b1404b66a07072
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000221.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4efed1192443ba18d09b10461ff685a1429d529878ff3007ef663a10c4f855e
+size 121211
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000222.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000222.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..87305908238e13238bfcbeda19cca9b779a26170
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000222.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e1cc1384baa794da5147262411c4fa0cf89d70dfcd4f9449955b3f9fdc51bc5e
+size 109481
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000223.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000223.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e73f477e61d72f0c27077e5dcdbc71db01fd94ca
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000223.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4cdfb5cb4de9f2df97bfd3453b88538b4879b9bc9e3e5f3af751e991a2682a6d
+size 134613
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000224.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000224.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c1a90acb6eda3a2da459c4c997d94d33abe95f05
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000224.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:921ce0cbb8861ee8b649a30b5e95533763b67ccaa8de01feda51bd585be041fa
+size 119281
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000225.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000225.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0d3147b4ff0c596f70be7f22a990706e38111873
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000225.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1cd68bb3b3c8795d2d6efe84cf9049e2caa5c9d25dabd338c2c19c00283615d7
+size 111311
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000226.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000226.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5aae4bbfeaba31b8440f8c557f7b10a10d47c227
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000226.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a5cb4d444e15fc782dfd0585a0d5187e99513c6aaea9aeffcb08e2bfd5cdf64
+size 118801
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000227.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000227.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f32c68e305ad796b775a7121b432473f1f05e595
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000227.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:424c830892eccc10726c1be95500c2171e13baf2eb40e5242961214d38dce507
+size 126215
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000228.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000228.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a1d3f2f286518b601e632837ce77b6d99e4c0d46
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000228.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05d02f7c164ed5d41c447d606fe0cf9125718a00b174b4fe96e78edf04f1596b
+size 132948
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000231.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000231.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..203562e000362a9c9a4044a45209c8902e272d4c
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000231.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3cf2091703838ce5404111744393b15417eddfb5a684eb7519ecc7014ef15e8
+size 130808
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000232.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000232.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7307b4ebf8688809788a4da3d0ef41d0074d2dd2
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000232.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:178dfb9acfc67fcf557b0c0e3a86e84b0c262012cfa44b86322128d75819b22a
+size 139826
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000234.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000234.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f307dc7b1e2ab40aad15776d2cb1123f18f94af2
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000234.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:661ecdd86a87d57b16c1e8662d390a3a0993557a0685fb6e7a19659926865b8c
+size 85660
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000235.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000235.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..51a1e65a2ae256d46e30127a755db347e24ea552
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000235.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dfa8f0376bd88be629a9ee08a8666fd993af4b50a4a388877cdcecce11ad86e2
+size 118171
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000238.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000238.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c8a5e4ff81d3d37dee97d9c76c3522870f30ff94
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000238.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:77506845bd842dd55147b1b6a3b90c480a4443f02287d76096b7b50b6eef249e
+size 177968
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000239.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000239.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8b28169b016f0354986c35d522e49941bcec01c7
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000239.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1eadc8da6e5d7693fabde2306821dae3935eb09f1958e30d68ab862988ee695e
+size 196266
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000240.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000240.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ad9a59d5ed183169bce4eb6359384192f36d0a78
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000240.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ea5c56e41b8379b41213f8a3591913bab9b3fdba9abde59b435412e5ddb43d6
+size 117673
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000243.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000243.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..afea7bb378edbb9755ae5817e7c76ccf47287bde
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000243.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7feee511b6fb91e1ce5893757a86cd64da8d95646a28014a92a7000c6e09f60
+size 107895
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000247.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000247.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cd5799baedb9532600d90a3680620fa5d09b2338
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000247.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2c8c9c2cea39d93466c919b1f02fafeda0258ca169a9c7c2fae9a58c6afffb6a
+size 137802
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000250.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000250.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8783b8f46bf09e7bc7f973b87e5b6e43f4c8db7f
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000250.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4bffeb284c1cef9e55cea64eb61d2e395c2ad87fe7f9bdd87df13fd448fc8d11
+size 165386
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000251.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000251.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b6d1aa5eaf6475cd2c0de0cb91ab276c3fd68bcc
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000251.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:708a94e3eb9c55929c0a91db4747a9bea4f8998dda162b8d960fdef9ef778959
+size 127989
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000252.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000252.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..166f86e3292083ea68b9634f26abf2079ec4d300
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000252.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa42cebb0d7e91ee3f5d3b2c508df1a62f167670a7f240adcf57c1391686ee0b
+size 268904
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000256.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000256.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4d0b67437b8f731e520961de650cc8d37ae8581e
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000256.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:703437e8dfcaffd848bf25861083c958eac81a1bf9b87d141a35dae6e990997f
+size 113734
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000257.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000257.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1c77a8df88ea2dd7fee5cbe47dfd08523579a282
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000257.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1c3ab08d51648d8b815203127242dc1cc560d5bb587be9148acd4907fdb822b0
+size 150548
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000258.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000258.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2aeccbf00bb06080aa763175c55d50008c0b0309
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000258.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:691815b6b54a874ee137acd32185bc92ca10e96463ea64da00a0d3060442579b
+size 173213
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000259.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000259.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0e0c5a9419967d248d10d92f78d984b82b2a6d8f
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000259.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b13dc3f11c414c1a440039ec124b1ec06e2e69348abe9c1ca445559ef24fe451
+size 133826
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000260.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000260.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a39bb112ad467cdce34032aa74c7718e757d37c8
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000260.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6cb7c0830c201100b858dc6e969306f64cf00ca27f1b341c624d4777abeea96
+size 129480
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000261.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000261.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..85c89ea7d3afc3a81bd4472a6d78fa90d1407ebe
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000261.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b566926b80b0f99bbf6fd6f75aab8aeb5295646499456e88dc5ec19875f8e49
+size 112901
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000262.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000262.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1d38048697e82327f1bfec1c8b731887ea498caa
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000262.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a32fded4bd6529460545237a69f03f127d1ea226d6bace1848fe7ec145de105c
+size 130727
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000265.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000265.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..75697330b09ec7f345a668f7f55e50970a450681
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000265.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:847100884129781c8137dc1801bbb5851dad3ce1cfdcf64743db62cacc36a75e
+size 188378
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000267.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000267.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..78121fdef7a09038811039885ca0aae2b446723b
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000267.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8dda077d14e238498cce0a16b1d037acdef3f08176677ef28577856467295e3d
+size 119987
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000272.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000272.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8636d55b2b2850676e9e81602c27a3a25301a858
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000272.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:98216d3cb538755264b6643eb5455a7e21ef1bc8ab673558c7ad61bb626906b0
+size 83132
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000273.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000273.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e1154324e44933231f1dd5e7415bfb793f36a9bc
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000273.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:936284ec58d155739b6103eae20d2addecd2312bb070a0ad473faa19b202fd57
+size 115113
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000275.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000275.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7b3970236af7b0181a895ed12df64b8402370b9e
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000275.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:64e7129927619846836712023ceec9ac5182a71d22c19613c6f151397d13fd6e
+size 209389
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000276.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000276.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c89ef3e88406bc55c4b50dfb8b15cb4ad735a996
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000276.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a52c2572fb9c607f99374969cca8acc6043bbd0974546e7b11ae804097279477
+size 168613
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000279.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000279.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d79505e61ba74a7b241cdacfdf57b3b00cd4c6f4
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000279.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c45185284c446d92e72b57651f0c2e6ee4cb9bc37bbb5c36812ceecb7fb400b4
+size 150640
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000280.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000280.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d43d2a0eefe0504ac750a34a298ed8f30b787f52
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000280.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:18d6997455382c70c2eccbe71e2d1dcd46a694cc9b8492907a653e02e78e1527
+size 121945
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000282.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000282.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..df782f9b7412c893ea093340f8766d435dacaaa4
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000282.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a983b2971802071714db531f6343abfe7d65e7f944e5e2d5bac8386cf04d107b
+size 96470
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000283.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000283.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..89dd3c6729f6561588acba8f6984de453023889a
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000283.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ce15f7d011aa0e35df102e4ed2081a70c9098529a6099f7c4d06e403f4747f89
+size 106783
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000284.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000284.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f0a56f25392fa654bc6ab01b95204e8f1b5835d9
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000284.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5b3c04e33852ec68158b7eeb52c7f1f62780b418017fc59938e9d833dcdb699
+size 134513
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000287.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000287.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cd4afd7a3dede4d45e736ab6ef5274e0c5b0843a
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000287.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9ef68cb20af31ba1cb809099b72551a5f0198a6e63c281b56f3d30330c8155d
+size 111976
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000290.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000290.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b5edf7e53280a318906c658856810afc187810c1
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000290.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:42959ecba2704895fe48588a12d0693ae10d86901b70d1d4bdb7ac670dd0308a
+size 111306
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000294.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000294.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b59b9d3678fd9db3cdf462cd26bb929565fcb190
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000294.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6692d521c23e5b9a47b0e4bfcb0bbf7c49c2ccecd12b9966eb092b863b18579
+size 132843
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000296.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000296.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3e378aa9f6c834563812b368c66a5e85cf982932
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000296.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:863fcbc406629b49f7707ec73b8a51b8820f79e496669ecedaf244877707a53e
+size 130348
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000298.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000298.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4b4259f4124d4abb4a90e7d7996f0ff233dd85f6
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000298.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7c8bc9a1ab47923f0a6aec6218e24de0fd1ffd53c25ce879657599580352baf8
+size 115805
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000301.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000301.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7af489418b3a23d4f71f20aa66e4d132d0ce474c
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000301.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2000e8b9021779da79840077a9c41d35b812414bb9e0b6406e3a4149d9f37c41
+size 119896
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000304.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000304.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5c17eaab9d28ec9eaa8bebed69989ba0ae169305
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000304.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f81663bdbd2179da632a113bd07c93a23f2e414cc52e44a4cf1f2779c7cf1565
+size 150933
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000306.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000306.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8a3398b70ba37cf765d182ac5e94e18cde3f70ad
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000306.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7dd6653c8e2d56d351736c27ebcd72415aecd3791f320fbb98655d234ef975f2
+size 112652
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000308.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000308.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..370a62f1361fedf0fe22db7f946d5732f454daf6
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000308.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5039c694204ef08fc430780a23e23dd96c8bcd839863507554c086a31546dff
+size 147451
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000310.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000310.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6924ca0c20008d3998c92e5a68be4a2b7ca84070
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000310.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a2519e03e7186f6b55c8e5ad2de923f7383f109f43dad4cb4f94e3dc1e996f83
+size 114858
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000314.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000314.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..960fa689f936caa873313c0aa80b45f0ba62e718
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000314.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:383d4ee03b4714b992bc9f1ae23e6c01e7e66ba05350fa6324af2315e38fe2ad
+size 131720
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000316.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000316.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7f613f48035a5892eeaf985e34d9c646f20800f6
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000316.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2400a2bc245dd4af7073ba85951bdf2e856e80974987ffa457b59c7b7dbcd1fd
+size 141510
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000318.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000318.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d41af1995896761c6f34d7d09cfd3f58a9340e1c
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000318.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ace670f449ab53ed3b7568c2ba69cc5fa63cf66adb538fce9d9b983730d8a756
+size 168190
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000319.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000319.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..735c954211204511e2919a1bc9dc679269eb6dc5
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000319.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d23b56c6e88f7cab1a59fbee514943bfe8f8c03212c23fd72be6f2dd3cf3a68
+size 151391
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000321.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000321.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..60f7867610b549ea3ec2260000b8354ec17fa8ab
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000321.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d5329dfb1b3b2b051ce93dcbbe5602a566840546a465f607476fdb728a1a857
+size 139472
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000323.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000323.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bd33e658f82657026157151a3ae6508d8b9f3f04
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000323.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2282e11419214bd1386e8feaf35d83c4e19d5f40fc37867c15e322e6721b64ed
+size 182044
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000324.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000324.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b751efe937bcc1dff631f2cc01548b744b0e8966
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000324.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:46114567399267048b03ed8953bf207679e4d3504a761dc47d99e9dd406fe7d5
+size 125483
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000328.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000328.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..85515d6bfa6de12dcfd10170f396031fe4d1056e
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000328.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab1652097bfa214b9468bf8aba4a23a07be83f9e73094b5cfc3da279f1097d6c
+size 107069
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000330.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000330.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ab427a9fce41c85d3ffb08f1d2b51e5c87387994
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000330.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b9d2e1a270d533ffb588b6d3ee961e4fdde7e568b301f036c88b3d64e2011ef
+size 106916
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000334.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000334.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..137d1c29af142575402e7242369c09b8a73604c4
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000334.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2218b77f61be83db68fd81de9c9374fd6fa49bf3337b35d6fb20a067addc2f4
+size 167903
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000335.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000335.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..28e1659c28ccdb4bc883ce50b543b56cca1c22d8
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000335.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c4fc94a29988ae6c5c233dc569a33f4c4d9036e8f0600906a1129e7b9e7d7aab
+size 131573
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000337.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000337.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..37deafefefc2ff3e91822a6f8fe54a575d2cb13b
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000337.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6c1dd86a2ed3e5399e6adc69ca528aa22d81c3d6c27179b5b9b44b24c64ca7a8
+size 94365
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000338.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000338.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1be93409c8d157f7cac138713c2897dde87cdd83
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000338.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6cf13d4e038da965651729f3da07d38d8124ee98af4e43fbc3db2a9b4bfbdedb
+size 127549
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000339.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000339.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f1513ecfe4f976a054bbc88305531d0b74ca8891
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000339.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:becd17bd178282f70974ef2ba27175b247febc301a43d9686e3d6fb9b518b97c
+size 131928
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000340.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000340.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2dd77bd6f79ffe14c01282fcf22b36e5ebceba82
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000340.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b556f7f76d38f42fa01ded8670271e2b7914bee580af0be3ea5f7276114a1b5
+size 129764
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000342.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000342.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1a746e9a3978c5701b9ed4b6d9c12a9d698345fe
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000342.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3be8f4467cb459cc69b35817dbca7c9d6fb7a91ab241d328a0599f3391a440d4
+size 131109
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000343.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000343.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e2b95267c77b4b9ffb5f1dc2b6c2d59496a88c97
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000343.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c194560abbe0c1cf66da413437f7d6e84cdab9aeef5098d13d6801664d6372a0
+size 118699
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000348.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000348.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ec4afa6ecab888330d6228841866ddb414809836
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000348.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75d2dec4eefcce3305c433f997bf0647b23ed8797d2b338d9ccce04a338bcb35
+size 101953
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000350.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000350.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6b21c3ae7ce591de194832890bb3610a31283d5c
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000350.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96e0421b4cf1220b1fbee6ac177ec57396506e17cb7f511e50b74bed9a8dea3e
+size 122658
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000356.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000356.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1afa815e8c323db14ef17d20c90f88ce26e55799
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000356.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae2f0c64c9ac9092e2180830d9768734e01527ada8da1309199ed570a6d2b009
+size 137707
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000360.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000360.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..16add614e163d475fbc5e72861c5f970dcaab6ae
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000360.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0626769cd9f6bc7273a24e499f2f42a46f0ebda7000d3dedd484265e4235ee8d
+size 150858
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000361.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000361.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d08a31129e875caf416d8768c5e26e120ac5a5b8
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000361.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be4e3d5b1deb4c702b7c3c9be7238005208a2644f6338bf3c9ea53a7458b8182
+size 130255
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000363.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000363.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..95d48cf9b4e35d1a69117677181e0a149aca85bb
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000363.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:076fd0dc99621a4e98479ba86f53b2a405fd368697c42f5ae2fddbf2937015c4
+size 124662
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000365.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000365.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..59baa87aca4b3e766c8ae18191d2061b0cbc348f
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000365.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec4ec17b69fabca72a8f073f124565f20cde1642202902af9667a385a1301ecb
+size 130919
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000367.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000367.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5c8a103c6df43016ab08a6eb33d072235e95f435
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000367.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f60fd53487d61a2aacbbadb0fb89307f0be646536b5edaf6db5a48fd5749390b
+size 118094
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000368.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000368.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e1a9a33bba7a8a6160c8f030dc9e221d681aeb11
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000368.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:87e83f086904884aec351ef90a4a95f56cd9434ee304dd3fdcdf183c6d0753ea
+size 133149
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000370.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000370.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..77fbb701ee7299d3efe68dec4f11e1e9b2d0a69a
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000370.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6095645ae9e4e3d908b9b9df7da208a046407953e046ae4749be500cbd50464c
+size 120110
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000372.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000372.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5da3a9563472dff6894570d22612b0cef01a3d6d
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000372.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7026cca1326b2c4fb3d6f6e53911d610d3f9e834f0a1e928723ef946b90d6b4
+size 163243
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000373.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000373.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..101ed822fa4b09f50c4d5f401eb8b39648762b8d
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000373.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c2969f48a012f67a41dd36eb224828ac43cd079ec8bfdf71adcb383d1dc2c12d
+size 129276
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000378.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000378.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..02de7c503c5e7da928d31f84aae78187fbd35a9f
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000378.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3b461b83630d4524c948b50bfb85f502ed68155e9b6d3ac04d08b2c6c0b71bea
+size 120956
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000379.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000379.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..03654db7293703fe6319b69a6db1194efa1c0ff5
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000379.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4d5be65d247611c9e1f9f019d344ab5135d228d0f1723da798ff21ea7b2a683
+size 123230
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000382.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000382.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ab16f7e931dfb62b9a81404ec5e83af6a8779123
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000382.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6701138c7137ac324340c72b6603d9daefb66994c8fd0d95559b2ee4041f32c7
+size 136816
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000384.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000384.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..99c8a436502aa521ec0ba7e471e94c42a058d2e0
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000384.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fdc362078f3401689983cc8166bb7c3770972d053e85d1c15aa84e94c1a09717
+size 94546
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000385.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000385.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7f27a73fe149740db66b257c6e3bb6bbd75b55cb
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000385.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e350ff057e51aa57e1907fcde936a699d0023411171360958e66e4a237cd9bed
+size 126764
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000386.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000386.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d0e2128f434c1095ee542578517c83879f117e9b
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000386.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c62095618a89b6c892a7f35f169c88aa551e955f09d1cb4d2f8e525644ece804
+size 121125
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000387.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000387.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..165af209d99dd9c94f9b75e3bfdeaeb675d6cb3b
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000387.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5255ac0662d815c62707f937203ace03c0efaad7acfe14ab3ae8e96b82abc53f
+size 115238
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000390.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000390.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0b993859c2f03b6b4cff32fdbaa7fdf164693e01
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000390.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:69e2041bed54a32317b8b68980565dcb7f0bab54091ed0be0a5010c51d7b62a0
+size 139925
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000393.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000393.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b493909a161ce81e3ff9d074318152c830649ca3
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000393.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cfc2b96e92f569b676ca543039b849d512d44162af083c941f9f63762d4469c2
+size 120370
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000394.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000394.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..824d2305766e17d802528b0767c2b650dac3067a
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000394.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c911f8917ab3a91cad631a7bb9af5b6e29b892bde6b16a5ddaa3e8d4162cc7d7
+size 142429
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000395.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000395.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c3345946a2a832674be7e66d8a629b4bb6d7c1e2
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000395.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7849b9b8e34d8c64033d0baf900b7a32fb40460ddc8b1e41d496ca6e138cedcd
+size 116899
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000398.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000398.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4b4f24026fbd634249afd5ece9a54918b2ecd14f
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000398.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4c41393431ec2936464f38ae54a37e20f2a89ea82847bed058732ba3c9ea8ad1
+size 138848
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000401.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000401.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..95d39c3ba2f2b030fd3f71fb6e54b6389da8793c
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000401.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2977559a3286de399d9e4011feb7e4e53cc7901834d4ba9ed98fcfa1c64d4229
+size 123386
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000403.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000403.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d6236ff44d1fdf4cc90059907ece57a093566d4b
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000403.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94d2e8b41d493fffce304e34c40c42f23eb356531edaba0f47c63836956c82d7
+size 134247
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000404.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000404.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e840e390fd10c4a1ee15c6cc4a2e01492bf1ddc3
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000404.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8270a9af6fdc17637fd6399bf20f90eb6d79e8a40f6c448b54594d111f6546e9
+size 125735
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000405.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000405.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b862d5c8c982166d2f349f42a9b8f8d03832e587
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000405.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8872243d75584e91d7fbf8173fbac1d3c9e53167b8976b64812f0a04d3d27137
+size 125391
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000406.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000406.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d8c34068ff560a8d37be92010d68a463ef707a06
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000406.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ad7582f4f8308836e060130cfbc159fe259eb94f05d07668fe9ca2b99569a4bd
+size 123321
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000407.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000407.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5f1c3951cd4c349b3f90c124cc2903af419dcfd5
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000407.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e11741ea1b55f4c08e3ab01dc9c7dff2cc0020df4d7a3315aabddcc94fe490ab
+size 140021
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000408.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000408.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..78ea682ceca5a300df3e03b4644a799156d202e7
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000408.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b02ac4a161d72ada5732df909889cb1a43d2e4287be71f7ba5a62a9f23e19002
+size 102364
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000412.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000412.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e1c760fa3a6fda33b0c418d6addca200d892875f
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000412.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:063ea7d5378e29a43a141aae8c1a22f9cd564054dfdbcb7fd28254e0f2979a46
+size 132214
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000415.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000415.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..423ff2fbf57775fa84c6730f95fae448a3728db2
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000415.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b7d7437f29500c4cd00d48e2bdf5b890f9e0f92737bb30640b0138858ed40170
+size 165890
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000417.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000417.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9666c735f3a567dcf89b5fbcd0226c4345c40fb7
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000417.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30189bd6f67edb179bd005dd4132ab798a69b5fc304cdd234b61e6007bdb4045
+size 106745
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000420.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000420.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e7bce368ade61b52e9cea593ee8743ac7d8a6f11
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000420.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0e166357812ceddbeb202a39b3e9e0a57242261306678f5d1aa79fdf9ebf2cd9
+size 91787
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000421.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000421.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..208b24d37afc0e4e2f742ed986b13d2e660db601
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000421.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f060b74dadd4f9579e4b0a98f91ef85df4a26a55d39906d3b8ee89bb6b899ab
+size 128708
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000423.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000423.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..36345909ab9826e5c4b4e19b67ba634d891e9f42
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000423.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:698a313602d3e7616a79bc93ba30406d607b98781dd6757468e691897c01544d
+size 114143
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000426.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000426.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bfae5471da158a7887ead02d8f34dfb1aca514c8
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000426.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7437bcd75557ddbd8e423814772afdc0664b38f11a895ee4fb31f9c1d3418a5f
+size 99082
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000427.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000427.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8fa1622e752c92d8df93879c3426d0289cce452d
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000427.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29f45a101ca452c91bc2d355c2f78743494a5a53925d2ecccca7a05d7ba821a7
+size 107755
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000428.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000428.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b4f7cf4e37de0752319a67de66db029b8ac54ee9
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000428.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9af583bf63a47bc9b1840778f21316ca7d744728806daf52db925c24799421c8
+size 166908
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000431.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000431.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..da9aa00e5df770f7c79ab0faca88c508a5e73db0
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000431.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d9dbe2b7795c9127fb91869abcf9807c8923ec0286f9629edc78d3ae08c4223
+size 106822
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000433.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000433.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..380b08f55fa6b1bf73d104c9a3cd60dd272bd8b7
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000433.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1cd5b2a0637fcd074489ac046c9cf0b5f7b80b28d12b786ddc4b58b6b23b658b
+size 116158
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000434.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000434.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5073e2161532d74faaf61a7cfe40105b26565faa
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000434.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:91cc7318c3262924b77f5346522567823511097a242021c11f59bc0728a42768
+size 137461
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000435.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000435.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..02eb508bbd611b4c779545f0f2c8921cbbeffb54
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000435.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ab8af26107cbee25b3fd6c5c29c0ecb7ca8a4507052a24e0e62bfd9160da21a
+size 134947
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000437.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000437.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..022979e0f1fa9dc16be680328309983e8a5142d2
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000437.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:117f97713155380561a062aa99f86636f22f5255b237b50404f645a80e650c51
+size 161333
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000439.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000439.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..76df3bb35d65400f11b914683e59f5cd0fca5863
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000439.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:12b58b42132ac5c7a908e1fee721a7db6ccd5ed6742dd27847cc79bbbe7c714c
+size 110841
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000440.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000440.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8bf60d991b94c96dfff91cdb84e7462395368de0
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000440.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:72dfe4c34d215e40c3945ec1145dc205fd8f6dcfd4e30a88d3a7e9d35b2d31d7
+size 156471
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000441.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000441.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..23a56d9365a6f432b979a29ef0ad3909e3088140
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000441.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8b3ba1ba17197a14481f6e4f86467e0a9a6aa5ffc8f24c408df8106f2fbde83
+size 179605
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000442.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000442.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7a6e3671e396098142b28de9bf1110e03b6b6225
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000442.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:179259063addbf35f156ab6c9764d7c48d7747e7f500baeed4673f03bc47159e
+size 117755
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000443.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000443.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7f52f6dbf9911aadcf37581e9ecb0739789ec242
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000443.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8833d4f0eb9231162f490efb7c9f5b11a748873d09b4d74ba57978077d16ce7e
+size 175823
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000445.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000445.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..aa88f5cc8c24d8911a83d0dba68e27e9cf190afd
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000445.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29067ee0e5bd346b7c6e50cafc2eabe5745d9f9fb77714898389bed3300a1427
+size 117686
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000447.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000447.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4dd7cf830fc7705974e20bea9b54d96a969e8f47
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000447.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c726c939f4a7f73b9f1153b62f52c2e7823eaa450f5832bcb1df9712cf5f5d6e
+size 143211
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000449.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000449.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f8ea2d3e44cdbb13bca3dd4f81791e3c650ef03b
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000449.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:749c8d74c2ea812b7263a67b823933bfd76693744024baf1b11d140881bb3a7a
+size 117336
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000450.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000450.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c9da8b42b4d78f35711cab2d65f81645156092bf
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000450.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:38a655719dbb289020540b2fb732e985c78766b4c4ab57a912045de9a2ab1b89
+size 118956
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000451.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000451.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..76ee76e1b8faa7fa05b6feecb76ac00a4c39b236
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000451.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b71c44dc2133600b82d062aba8d8c7d1c0a85acd444096962da1cfd49a2f429
+size 120469
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000452.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000452.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..df2a146339344fa1f91674976a061a83b5ad9139
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000452.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d48a1b2786255e0b7035ba0364fd31df5fa5d23938d3c8d781d5095fe475821
+size 177435
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000453.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000453.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..78e008c670193c7e7f4958f296af212c8bcf582e
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000453.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e8af8d7d09bc444f236279a21e596554adf97def9e2a19f412d27211e9c5a08f
+size 122000
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000458.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000458.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0631351150f969917fd6a8df361eac563270cbc0
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000458.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:299ee2b1cdf9edf020a28e8131a5e487d57d34915701a86f402edbc817b40841
+size 122467
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000459.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000459.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c6e8420ec928c289b7238420a249891e4f38b2f3
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000459.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b9ede1190005ce5a006b69baffd7934b54be2812f8fa81f3a292a286d8710bc
+size 122827
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000460.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000460.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e4e9875ecc9993bdca4b27d90bcc6c8938862af3
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000460.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3bc5ea108faa17d9fda893839dc9f618f9adf9802ff796d35579d672bf6ddaaf
+size 116133
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000463.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000463.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..974bc89cbbd1e302d8d63533182f2af8da5b10da
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000463.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3851a0769d06c1a0e58ac7428922cf8a86009f6ffe4b73a4f4630a0d4e69e54f
+size 138693
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000467.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000467.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..aa3632d81278d532ff64396e5da7432b5250d923
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000467.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9930543c19de450a394a950d8ea867baee03938d3e4711530e309cf0661f1650
+size 202494
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000468.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000468.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6065fba190fc1db096c27a196459a7ec6550c008
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000468.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8c9f4a86a5b9db26ef795f47dba79f601c0e12d884850d7e9c2d0592a3284348
+size 126952
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000469.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000469.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7a770d80dd24ae700dfdbc4e437c1b518d60d19a
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000469.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b669b984e01c35738d83d3ce552f37479d74b8d30181d7521e93a925ac733ab1
+size 193875
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000470.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000470.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..33679694f4923965f9e8a3ac6959ba62dce94312
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000470.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:732c23442b5c61712f4fc2f19ef0d3737ca966b32512baf14cc73e2c65f2527a
+size 119452
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000475.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000475.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..25ce87f7ab96a3a32f0e4f81e4cc0e69bb8e2df7
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000475.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a788a67be0646adc37e0a55a3d59bca6f5a86525122eb36c82cea216464e53da
+size 108972
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000476.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000476.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1f2291244981fb53ca1aa23b0f71d790e496892a
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000476.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7813141218c4b7f14953768e8a3482587dac8f467fbabb9d463411931e7e1450
+size 154277
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000479.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000479.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..63e81805485d09b9bb6ebfcddc7d24ebeef0709e
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000479.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0c3ccf8a0cf794c6b4690a29d3179a61c2ffcc29abaf21ca011b3afdef57e1f1
+size 128735
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000484.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000484.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0f482ad94802a742d8e36bf3d87a5cb57481dab6
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000484.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4a56de089ccb1a862c7d43e79ca74a5e14c8594deb2a5312847074d907583fe
+size 121414
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000485.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000485.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1c3f939c3b8d401177b8b9af288459347efecd27
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000485.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7a99fcfa02e1d0430552a109b667d3cef2d92b492f2b87fc5a78047bb1de51b
+size 116809
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000486.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000486.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..625dc7d0790616704ef0f72920dd99c4ca4bd02a
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000486.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9bc1b9f52b9e08115539d9357c99d5682325662324a6ff4e46e0fd9354464edc
+size 178430
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000488.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000488.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1102b30e64158cc90cf6ef9efbc92ae2327ebb94
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000488.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4bde32fbc04da2698aaaece2e2e7e211a15cb6ce392f55ec96df07828df35b7
+size 117039
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000491.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000491.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8452f239eba5796e1fbf6e08d5e754e82ad27c62
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000491.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:478b9fefbf55b685ba73bbc00f55da19dbd39b4c1d4fc1890e3a853a6b3150e0
+size 121184
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000492.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000492.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ad456ec613b2f304dd383cfb69812ad511219193
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000492.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95b135531446e55cd1aef2a725e336d4996e818d3661a1e349355bdd57017d36
+size 126199
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000493.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000493.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..910299831cc517df887d870efaca9d69056225f1
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000493.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a51af3ebfa419ad1dd17346bf1bf818b3ad89c28eab5f03a93bfe98f6c4d2374
+size 106626
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000494.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000494.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..947a3a5d4177a10e945230de01413a8544fbfd91
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000494.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:08daf42271e3bf2b4e7936c72f240caf8f295a0149764486f7dc4e2238e987c7
+size 99532
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000495.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000495.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4ff9658e1033fca2b2f6303343585f523314d9bd
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000495.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2cf2b38cafd170c413bb867c2f2dd2bd53338409d3f5edf561ad47903335b226
+size 117650
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000498.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000498.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e2098286d2c4374d8120bd904014dbb122e5aca1
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000498.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:31c747896fe8085e58a70da040642737aafaa73f6beadec23ef5d8ade3b69d3d
+size 116851
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000499.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000499.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..593570f9623c576784f06b4fb6606c4ebe67cae7
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000499.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:71a7d410409890f0aee82469ddd246c8d19baa923bd34ecf37f28bb2bba240ba
+size 118865
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000500.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000500.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6be20adcbf5fdba7fef8eb174ef5cffa70887fd5
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000500.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86946e103f91252b961fdd71396fb7339a812ffa5d7c79cfa9c7885923c83b4e
+size 117347
diff --git a/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000505.mp4 b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000505.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9d79bc069061e143638bafb9a897696cc0c83a8c
--- /dev/null
+++ b/target/atomic/TurnOnSinkFaucet/20250812/lerobot/videos/chunk-000/observation.images.robot0_agentview_right/episode_000505.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a81949861783f5c8becc2104cc2b9b6d0e7a7d5a5a973c7eecf35db567a0a8d9
+size 163460
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000003/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000003/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..aeaaff811370b68a7808ddf708aff538af336d86
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000003/ep_meta.json
@@ -0,0 +1,523 @@
+{
+    "layout_id": 9,
+    "style_id": 9,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_1_left_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw008/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_front_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_1_room",
+                    "min_size": [
+                        0.08641,
+                        0.086454,
+                        0.109506
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup024/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.2500741284517756,
+                    0.65
+                ],
+                "offset": [
+                    0.6499629357741121,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_1_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_2_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "salt_shaker_front_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_front_group_auxiliary_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "plant_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_left_group": {
+            "cls": "Accessory"
+        },
+        "stack_left_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_right_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "cab_top_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_right_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "side_bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "side_bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_3": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_1_room",
+        "dining_counter": "counter_1_front_group",
+        "drawer": "stack_1_left_group_2"
+    },
+    "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": [
+        0.7605427630141517,
+        -3.3673340682659516,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415963267948968
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000005/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000005/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..eef85431ce5b16b1b70725f8eaf5dff6dc4aab94
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000005/ep_meta.json
@@ -0,0 +1,523 @@
+{
+    "layout_id": 9,
+    "style_id": 9,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_2_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw009/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_front_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_1_room",
+                    "min_size": [
+                        0.09940219,
+                        0.0994084,
+                        0.12121953
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup021/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.2500741284517756,
+                    0.65
+                ],
+                "offset": [
+                    0.6499629357741121,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_1_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_2_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "salt_shaker_front_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_front_group_auxiliary_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "plant_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_left_group": {
+            "cls": "Accessory"
+        },
+        "stack_left_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_right_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "cab_top_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_right_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "side_bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "side_bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_3": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_1_room",
+        "dining_counter": "counter_1_front_group",
+        "drawer": "stack_2_main_group_2"
+    },
+    "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": [
+        1.9418817139445637,
+        -0.8370324272310923,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000009/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000009/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7ab3a9cb2a44ad9214f208dac4be2ac86e0719b
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000009/ep_meta.json
@@ -0,0 +1,529 @@
+{
+    "layout_id": 10,
+    "style_id": 10,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_2_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw011/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_dining_area_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_1_room",
+                    "min_size": [
+                        0.08641,
+                        0.086454,
+                        0.109506
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup024/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.0502038361803159,
+                    1.0
+                ],
+                "offset": [
+                    0.5998980819098421,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_room": {
+            "cls": "Wall"
+        },
+        "wall_front_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_2_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_front_room": {
+            "cls": "Floor"
+        },
+        "floor_front_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "right_corner_box_main_group": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_4": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_left_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "box_left_top_left_group": {
+            "cls": "Box"
+        },
+        "box_left_bottom_left_group": {
+            "cls": "Box"
+        },
+        "box_right_top_left_group": {
+            "cls": "Box"
+        },
+        "box_right_bottom_left_group": {
+            "cls": "Box"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_2": {
+            "cls": "Drawer"
+        },
+        "shelves_front_group": {
+            "cls": "OpenCabinet"
+        },
+        "bottom_front_group_base": {
+            "cls": "Box"
+        },
+        "bottom_front_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_front_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_middle_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_front_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_front_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "utensil_set_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_dining_area_group": {
+            "cls": "Counter"
+        },
+        "paper_towel_dining_area_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_dining_area_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_1_room",
+        "dining_counter": "counter_1_dining_area_group",
+        "drawer": "stack_2_main_group_2"
+    },
+    "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": [
+        1.9475825062889698,
+        -0.7789482565663911,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000012/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000012/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..394ffdb880ba6d27a0393b5eefbb175b26330c42
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000012/ep_meta.json
@@ -0,0 +1,523 @@
+{
+    "layout_id": 9,
+    "style_id": 9,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_2_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw011/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_front_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.09940219,
+                        0.0994084,
+                        0.12121953
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup021/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.549925877128271,
+                    0.65
+                ],
+                "offset": [
+                    -3.7061435864460535e-05,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_1_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_2_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "salt_shaker_front_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_front_group_auxiliary_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "plant_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_left_group": {
+            "cls": "Accessory"
+        },
+        "stack_left_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_right_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "cab_top_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_right_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "side_bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "side_bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_3": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "counter_1_front_group",
+        "drawer": "stack_2_main_group_2"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.089398216320323,
+        -0.8340251440395251,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000013/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000013/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3c77e9ef3af67e32174f98bb111317a97006ec8
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000013/ep_meta.json
@@ -0,0 +1,529 @@
+{
+    "layout_id": 10,
+    "style_id": 10,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_3_main_group_3",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw010/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_dining_area_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.08641,
+                        0.086454,
+                        0.109506
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup024/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.249796168970498,
+                    1.0
+                ],
+                "offset": [
+                    -0.00010191551475102756,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_room": {
+            "cls": "Wall"
+        },
+        "wall_front_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_2_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_front_room": {
+            "cls": "Floor"
+        },
+        "floor_front_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "right_corner_box_main_group": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_4": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_left_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "box_left_top_left_group": {
+            "cls": "Box"
+        },
+        "box_left_bottom_left_group": {
+            "cls": "Box"
+        },
+        "box_right_top_left_group": {
+            "cls": "Box"
+        },
+        "box_right_bottom_left_group": {
+            "cls": "Box"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_2": {
+            "cls": "Drawer"
+        },
+        "shelves_front_group": {
+            "cls": "OpenCabinet"
+        },
+        "bottom_front_group_base": {
+            "cls": "Box"
+        },
+        "bottom_front_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_front_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_middle_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_front_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_front_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "utensil_set_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_dining_area_group": {
+            "cls": "Counter"
+        },
+        "paper_towel_dining_area_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_dining_area_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "counter_1_dining_area_group",
+        "drawer": "stack_3_main_group_3"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.28488850952222,
+        -0.8379265454672062,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000016/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000016/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9a4fe095856fa2414ed8e37c5d8cc029000435b3
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000016/ep_meta.json
@@ -0,0 +1,439 @@
+{
+    "layout_id": 4,
+    "style_id": 4,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_3_left_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw012/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_3_room",
+                    "min_size": [
+                        0.06996087000000001,
+                        0.06996051,
+                        0.1
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup022/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.1600157947782348,
+                    1.6
+                ],
+                "offset": [
+                    -0.6449921026108827,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_right_main_group": {
+            "cls": "Counter"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "fridge_cab_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_left_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_left_group": {
+            "cls": "Box"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_left_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_3_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_3_left_group_2"
+    },
+    "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": [
+        0.8455305226459884,
+        -1.3996584929860323,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415963267948968
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000019/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000019/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..edecf0cf2b8f82bf1a07e830cf1330b28ae12c47
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000019/ep_meta.json
@@ -0,0 +1,529 @@
+{
+    "layout_id": 10,
+    "style_id": 10,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_1_main_group_3",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw008/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_dining_area_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_3_room",
+                    "min_size": [
+                        0.09940219,
+                        0.0994084,
+                        0.12121953
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup021/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.0497961741213082,
+                    1.0
+                ],
+                "offset": [
+                    -0.6001019129393459,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_room": {
+            "cls": "Wall"
+        },
+        "wall_front_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_2_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_front_room": {
+            "cls": "Floor"
+        },
+        "floor_front_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "right_corner_box_main_group": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_4": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_left_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "box_left_top_left_group": {
+            "cls": "Box"
+        },
+        "box_left_bottom_left_group": {
+            "cls": "Box"
+        },
+        "box_right_top_left_group": {
+            "cls": "Box"
+        },
+        "box_right_bottom_left_group": {
+            "cls": "Box"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_2": {
+            "cls": "Drawer"
+        },
+        "shelves_front_group": {
+            "cls": "OpenCabinet"
+        },
+        "bottom_front_group_base": {
+            "cls": "Box"
+        },
+        "bottom_front_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_front_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_middle_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_front_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_front_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "utensil_set_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_dining_area_group": {
+            "cls": "Counter"
+        },
+        "paper_towel_dining_area_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_dining_area_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_3_room",
+        "dining_counter": "counter_1_dining_area_group",
+        "drawer": "stack_1_main_group_3"
+    },
+    "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": [
+        1.522184359659045,
+        -0.8094475373533477,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000020/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000020/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..eaefb0e2ef0ddfe2eeb473797f568bbcdf694b64
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000020/ep_meta.json
@@ -0,0 +1,598 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_1_right_group_3",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw012/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.06024275,
+                        0.0602428,
+                        0.114128
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup025/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.8020727043346244,
+                    0.9350000000000002
+                ],
+                "offset": [
+                    -6.48575127626394e-05,
+                    0.3075,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "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": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_1_right_group_3"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        5.580061524223415,
+        -1.4837999207161658,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000021/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000021/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6ad373b6fc01824f7e263ca81a0a3627cf88846
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000021/ep_meta.json
@@ -0,0 +1,523 @@
+{
+    "layout_id": 9,
+    "style_id": 9,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_2_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw010/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_front_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.06561669,
+                        0.065618,
+                        0.14712964
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup023/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.549925877128271,
+                    0.65
+                ],
+                "offset": [
+                    -3.7061435864460535e-05,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_1_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_2_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "salt_shaker_front_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_front_group_auxiliary_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "plant_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_left_group": {
+            "cls": "Accessory"
+        },
+        "stack_left_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_right_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "cab_top_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_right_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "side_bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "side_bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_3": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "counter_1_front_group",
+        "drawer": "stack_2_main_group_2"
+    },
+    "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": [
+        1.8692683157311019,
+        -0.8051591074443795,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000023/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000023/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f02100accbc33ef86447271c3fa53856f7e499b
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000023/ep_meta.json
@@ -0,0 +1,439 @@
+{
+    "layout_id": 4,
+    "style_id": 4,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_3_main_group_3",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw012/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.06024275,
+                        0.0602428,
+                        0.114128
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup025/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.4399842052305356,
+                    1.6
+                ],
+                "offset": [
+                    0.005007897384732285,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_right_main_group": {
+            "cls": "Counter"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "fridge_cab_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_left_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_left_group": {
+            "cls": "Box"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_left_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_3_main_group_3"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.4467417304556864,
+        -0.7804420039067834,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000026/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000026/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..43b4de521307a61a221da9b0e53dc7edf40aa33d
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000026/ep_meta.json
@@ -0,0 +1,451 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_5_main_group_3",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw011/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_3_room",
+                    "min_size": [
+                        0.06024275,
+                        0.0602428,
+                        0.114128
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup025/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.6166965045940636,
+                    1.4
+                ],
+                "offset": [
+                    -0.6501482429534331,
+                    2.0816681711721685e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_3_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_5_main_group_3"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.8629422205751967,
+        -0.8369157586186473,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000029/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000029/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..57aa6d3c28edb8d3f241660049ac93d08d3f573a
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000029/ep_meta.json
@@ -0,0 +1,451 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_4_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw010/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.08641,
+                        0.086454,
+                        0.109506
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup024/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.683303489825889,
+                    0.8450000000000001
+                ],
+                "offset": [
+                    -0.00014824574345695396,
+                    0.27749999999999986,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_4_main_group_2"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.4524823422882744,
+        -0.7793115588819199,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000030/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000030/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9e0c7c8bc0f62d63e0e379168e5b990beed450c
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000030/ep_meta.json
@@ -0,0 +1,598 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_1_main_group_3",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw010/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.08641,
+                        0.086454,
+                        0.109506
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup024/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.8020727043346244,
+                    0.9350000000000002
+                ],
+                "offset": [
+                    -6.48575127626394e-05,
+                    0.3075,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "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": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_1_main_group_3"
+    },
+    "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": [
+        1.3664660277076937,
+        -0.8459814867298959,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000031/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000031/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7f9e4bfbdeed4390fef3af355d3a7ff308efc59
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000031/ep_meta.json
@@ -0,0 +1,451 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_4_main_group_3",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw008/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.08641,
+                        0.086454,
+                        0.109506
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup024/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.683303489825889,
+                    0.8450000000000001
+                ],
+                "offset": [
+                    -0.00014824574345695396,
+                    0.27749999999999986,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_4_main_group_3"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.0173411911037427,
+        -0.7996432659339353,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000034/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000034/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7170f5b0ce3e80754dfa17c5f1ca1f2c45b8f97
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000034/ep_meta.json
@@ -0,0 +1,529 @@
+{
+    "layout_id": 10,
+    "style_id": 10,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_1_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw012/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_dining_area_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_1_room",
+                    "min_size": [
+                        0.06024275,
+                        0.0602428,
+                        0.114128
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup025/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.0502038361803159,
+                    1.0
+                ],
+                "offset": [
+                    0.5998980819098421,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_room": {
+            "cls": "Wall"
+        },
+        "wall_front_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_2_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_front_room": {
+            "cls": "Floor"
+        },
+        "floor_front_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "right_corner_box_main_group": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_4": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_left_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "box_left_top_left_group": {
+            "cls": "Box"
+        },
+        "box_left_bottom_left_group": {
+            "cls": "Box"
+        },
+        "box_right_top_left_group": {
+            "cls": "Box"
+        },
+        "box_right_bottom_left_group": {
+            "cls": "Box"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_2": {
+            "cls": "Drawer"
+        },
+        "shelves_front_group": {
+            "cls": "OpenCabinet"
+        },
+        "bottom_front_group_base": {
+            "cls": "Box"
+        },
+        "bottom_front_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_front_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_middle_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_front_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_front_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "utensil_set_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_dining_area_group": {
+            "cls": "Counter"
+        },
+        "paper_towel_dining_area_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_dining_area_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_1_room",
+        "dining_counter": "counter_1_dining_area_group",
+        "drawer": "stack_1_main_group_2"
+    },
+    "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": [
+        0.9246569412177006,
+        -0.7983813782775122,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000035/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000035/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3c52dfb05222f0d2496358a9400669340c0af5b
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000035/ep_meta.json
@@ -0,0 +1,523 @@
+{
+    "layout_id": 9,
+    "style_id": 9,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_3_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw009/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_front_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.08641,
+                        0.086454,
+                        0.109506
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup024/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.549925877128271,
+                    0.65
+                ],
+                "offset": [
+                    -3.7061435864460535e-05,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_1_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_2_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "salt_shaker_front_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_front_group_auxiliary_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "plant_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_left_group": {
+            "cls": "Accessory"
+        },
+        "stack_left_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_right_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "cab_top_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_right_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "side_bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "side_bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_3": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "counter_1_front_group",
+        "drawer": "stack_3_main_group_2"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.030278743473722,
+        -0.7701957845986439,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000036/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000036/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..226439e624196b4ea1f16d420a4cf1b31e79ecc8
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000036/ep_meta.json
@@ -0,0 +1,529 @@
+{
+    "layout_id": 10,
+    "style_id": 10,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_2_main_group_3",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw009/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_dining_area_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_3_room",
+                    "min_size": [
+                        0.09940219,
+                        0.0994084,
+                        0.12121953
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup021/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.0497961741213082,
+                    1.0
+                ],
+                "offset": [
+                    -0.6001019129393459,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_room": {
+            "cls": "Wall"
+        },
+        "wall_front_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_2_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_front_room": {
+            "cls": "Floor"
+        },
+        "floor_front_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "right_corner_box_main_group": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_4": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_left_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "box_left_top_left_group": {
+            "cls": "Box"
+        },
+        "box_left_bottom_left_group": {
+            "cls": "Box"
+        },
+        "box_right_top_left_group": {
+            "cls": "Box"
+        },
+        "box_right_bottom_left_group": {
+            "cls": "Box"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_2": {
+            "cls": "Drawer"
+        },
+        "shelves_front_group": {
+            "cls": "OpenCabinet"
+        },
+        "bottom_front_group_base": {
+            "cls": "Box"
+        },
+        "bottom_front_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_front_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_middle_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_front_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_front_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "utensil_set_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_dining_area_group": {
+            "cls": "Counter"
+        },
+        "paper_towel_dining_area_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_dining_area_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_3_room",
+        "dining_counter": "counter_1_dining_area_group",
+        "drawer": "stack_2_main_group_3"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.463228583938746,
+        -0.8280486163025123,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000038/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000038/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4aa167717c9f11ebeafe4a75bdfe16abf51bce4f
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000038/ep_meta.json
@@ -0,0 +1,469 @@
+{
+    "layout_id": 8,
+    "style_id": 8,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_2_left_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw011/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_front_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_1_room",
+                    "min_size": [
+                        0.06561669,
+                        0.065618,
+                        0.14712964
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup023/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.100074126305603,
+                    0.65
+                ],
+                "offset": [
+                    0.3999629368471984,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "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"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "flower_vase_right_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_1_room",
+        "dining_counter": "counter_1_front_group",
+        "drawer": "stack_2_left_group_2"
+    },
+    "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": [
+        0.849822603527057,
+        -0.868549992196147,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415963267948968
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000040/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000040/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c95e6a3f73f14246848236350a7ac418130a3a89
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000040/ep_meta.json
@@ -0,0 +1,469 @@
+{
+    "layout_id": 8,
+    "style_id": 8,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_1_left_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw008/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_front_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_1_room",
+                    "min_size": [
+                        0.09940219,
+                        0.0994084,
+                        0.12121953
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup021/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.100074126305603,
+                    0.65
+                ],
+                "offset": [
+                    0.3999629368471984,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "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"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "flower_vase_right_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_1_room",
+        "dining_counter": "counter_1_front_group",
+        "drawer": "stack_1_left_group_2"
+    },
+    "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": [
+        0.8430637069247706,
+        -2.150141908068393,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415963267948968
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000041/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000041/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0ed22ffe5882d7b7d0a05e656ed5ff87fba9aaff
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000041/ep_meta.json
@@ -0,0 +1,469 @@
+{
+    "layout_id": 8,
+    "style_id": 8,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_2_left_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw010/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_front_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_1_room",
+                    "min_size": [
+                        0.09940219,
+                        0.0994084,
+                        0.12121953
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup021/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.100074126305603,
+                    0.65
+                ],
+                "offset": [
+                    0.3999629368471984,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "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"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "flower_vase_right_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_1_room",
+        "dining_counter": "counter_1_front_group",
+        "drawer": "stack_2_left_group_2"
+    },
+    "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": [
+        0.8079085036390754,
+        -0.9391895280052335,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415963267948968
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000043/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000043/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5baf1fa64ec21f2fd24ae94d751f0e5ad4d2881b
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000043/ep_meta.json
@@ -0,0 +1,451 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_6_main_group_4",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw010/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.6779999999999999,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_1_room",
+                    "min_size": [
+                        0.09940219,
+                        0.0994084,
+                        0.12121953
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup021/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.6161035216202366,
+                    1.4
+                ],
+                "offset": [
+                    0.6498517514665196,
+                    2.0816681711721685e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_1_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_6_main_group_4"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.66432723707194,
+        -0.7955094627191602,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000045/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000045/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d56f561edca8833d70c022421cbbe8ba9fb37643
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000045/ep_meta.json
@@ -0,0 +1,523 @@
+{
+    "layout_id": 9,
+    "style_id": 9,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_1_left_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw011/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_front_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.09940219,
+                        0.0994084,
+                        0.12121953
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup021/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.549925877128271,
+                    0.65
+                ],
+                "offset": [
+                    -3.7061435864460535e-05,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_1_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_2_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "salt_shaker_front_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_front_group_auxiliary_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "plant_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_left_group": {
+            "cls": "Accessory"
+        },
+        "stack_left_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_right_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "cab_top_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_right_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "side_bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "side_bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_3": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "counter_1_front_group",
+        "drawer": "stack_1_left_group_2"
+    },
+    "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": [
+        0.7645764566593691,
+        -3.3965885614795956,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415963267948968
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000046/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000046/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c106ac3a9d43912c2f8f7f4bba90ea56c57a37d8
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000046/ep_meta.json
@@ -0,0 +1,523 @@
+{
+    "layout_id": 9,
+    "style_id": 9,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_5_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw008/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_front_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_3_room",
+                    "min_size": [
+                        0.09940219,
+                        0.0994084,
+                        0.12121953
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup021/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.2499258827083182,
+                    0.65
+                ],
+                "offset": [
+                    -0.6500370586458408,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_1_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_2_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "salt_shaker_front_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_front_group_auxiliary_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "plant_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_left_group": {
+            "cls": "Accessory"
+        },
+        "stack_left_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_right_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "cab_top_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_right_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "side_bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "side_bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_3": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_3_room",
+        "dining_counter": "counter_1_front_group",
+        "drawer": "stack_5_main_group_2"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.975403574603113,
+        -0.7588084092949864,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000047/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000047/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fe9a1421ddb7f9b4c19f4c2c25e6a9b0947cc1ef
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000047/ep_meta.json
@@ -0,0 +1,529 @@
+{
+    "layout_id": 10,
+    "style_id": 10,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_3_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw011/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_dining_area_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.06996087000000001,
+                        0.06996051,
+                        0.1
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup022/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.249796168970498,
+                    1.0
+                ],
+                "offset": [
+                    -0.00010191551475102756,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_room": {
+            "cls": "Wall"
+        },
+        "wall_front_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_2_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_front_room": {
+            "cls": "Floor"
+        },
+        "floor_front_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "right_corner_box_main_group": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_4": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_left_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "box_left_top_left_group": {
+            "cls": "Box"
+        },
+        "box_left_bottom_left_group": {
+            "cls": "Box"
+        },
+        "box_right_top_left_group": {
+            "cls": "Box"
+        },
+        "box_right_bottom_left_group": {
+            "cls": "Box"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_2": {
+            "cls": "Drawer"
+        },
+        "shelves_front_group": {
+            "cls": "OpenCabinet"
+        },
+        "bottom_front_group_base": {
+            "cls": "Box"
+        },
+        "bottom_front_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_front_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_middle_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_front_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_front_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "utensil_set_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_dining_area_group": {
+            "cls": "Counter"
+        },
+        "paper_towel_dining_area_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_dining_area_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "counter_1_dining_area_group",
+        "drawer": "stack_3_main_group_2"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.7221463597607145,
+        -0.7778972999322276,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000050/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000050/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..46de66c77da53360c33c84d4a32677b20bdaf0a6
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000050/ep_meta.json
@@ -0,0 +1,598 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_2_left_group_3",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw012/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_1_room",
+                    "min_size": [
+                        0.09940219,
+                        0.0994084,
+                        0.12121953
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup021/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.4976678600342783,
+                    1.55
+                ],
+                "offset": [
+                    0.649935139697214,
+                    2.0816681711721685e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "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": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_1_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_2_left_group_3"
+    },
+    "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": [
+        0.7746533794229788,
+        -1.3716682526294113,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415963267948968
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000051/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000051/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b498cbb869d8503d5df03795885feac8fe7c731a
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000051/ep_meta.json
@@ -0,0 +1,529 @@
+{
+    "layout_id": 10,
+    "style_id": 10,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_1_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw008/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_dining_area_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_1_room",
+                    "min_size": [
+                        0.06561669,
+                        0.065618,
+                        0.14712964
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup023/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.0502038361803159,
+                    1.0
+                ],
+                "offset": [
+                    0.5998980819098421,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_room": {
+            "cls": "Wall"
+        },
+        "wall_front_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_2_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_front_room": {
+            "cls": "Floor"
+        },
+        "floor_front_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "right_corner_box_main_group": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_4": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_left_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "box_left_top_left_group": {
+            "cls": "Box"
+        },
+        "box_left_bottom_left_group": {
+            "cls": "Box"
+        },
+        "box_right_top_left_group": {
+            "cls": "Box"
+        },
+        "box_right_bottom_left_group": {
+            "cls": "Box"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_2": {
+            "cls": "Drawer"
+        },
+        "shelves_front_group": {
+            "cls": "OpenCabinet"
+        },
+        "bottom_front_group_base": {
+            "cls": "Box"
+        },
+        "bottom_front_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_front_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_middle_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_front_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_front_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "utensil_set_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_dining_area_group": {
+            "cls": "Counter"
+        },
+        "paper_towel_dining_area_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_dining_area_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_1_room",
+        "dining_counter": "counter_1_dining_area_group",
+        "drawer": "stack_1_main_group_2"
+    },
+    "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": [
+        0.9278879036895205,
+        -0.826750179829499,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000052/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000052/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e43b153b724fbdb699d118f642c5ddac1c59ebd3
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000052/ep_meta.json
@@ -0,0 +1,439 @@
+{
+    "layout_id": 4,
+    "style_id": 4,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_3_left_group_3",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw009/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.06561669,
+                        0.065618,
+                        0.14712964
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup023/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.4399842052305356,
+                    1.6
+                ],
+                "offset": [
+                    0.005007897384732285,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_right_main_group": {
+            "cls": "Counter"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "fridge_cab_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_left_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_left_group": {
+            "cls": "Box"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_left_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_3_left_group_3"
+    },
+    "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": [
+        0.8481631535320758,
+        -1.0721973188416323,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415963267948968
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000055/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000055/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1e9ab4345931e7cb8e02d4a539a64be29f9ab1f6
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000055/ep_meta.json
@@ -0,0 +1,469 @@
+{
+    "layout_id": 8,
+    "style_id": 8,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_2_main_group_3",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw011/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_front_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_1_room",
+                    "min_size": [
+                        0.06024275,
+                        0.0602428,
+                        0.114128
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup025/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.100074126305603,
+                    0.65
+                ],
+                "offset": [
+                    0.3999629368471984,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "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"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "flower_vase_right_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_1_room",
+        "dining_counter": "counter_1_front_group",
+        "drawer": "stack_2_main_group_3"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.410011626349731,
+        -0.8276078285203509,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000057/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000057/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f72c9b1c9282a909d60730f26063063ee096098
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000057/ep_meta.json
@@ -0,0 +1,523 @@
+{
+    "layout_id": 9,
+    "style_id": 9,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_1_left_group_3",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw011/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_front_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_3_room",
+                    "min_size": [
+                        0.06561669,
+                        0.065618,
+                        0.14712964
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup023/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.2499258827083182,
+                    0.65
+                ],
+                "offset": [
+                    -0.6500370586458408,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_1_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_2_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "salt_shaker_front_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_front_group_auxiliary_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "plant_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_left_group": {
+            "cls": "Accessory"
+        },
+        "stack_left_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_right_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "cab_top_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_right_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "side_bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "side_bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_3": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_3_room",
+        "dining_counter": "counter_1_front_group",
+        "drawer": "stack_1_left_group_3"
+    },
+    "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": [
+        0.830056277138238,
+        -2.954687250652077,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415963267948968
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000058/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000058/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..acd50741fc117df03eb217e47fef9bc8521b3500
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000058/ep_meta.json
@@ -0,0 +1,523 @@
+{
+    "layout_id": 9,
+    "style_id": 9,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_5_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw008/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_front_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.06024275,
+                        0.0602428,
+                        0.114128
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup025/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.549925877128271,
+                    0.65
+                ],
+                "offset": [
+                    -3.7061435864460535e-05,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_1_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_2_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "salt_shaker_front_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_front_group_auxiliary_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "plant_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_left_group": {
+            "cls": "Accessory"
+        },
+        "stack_left_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_right_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "cab_top_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_right_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "side_bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "side_bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_3": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "counter_1_front_group",
+        "drawer": "stack_5_main_group_2"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.8785309383079625,
+        -0.8415985345947493,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000061/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000061/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a5869bbe8b4b2c1d735a2ba6cd7d2c9616087347
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000061/ep_meta.json
@@ -0,0 +1,451 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "island_cab_left_island_group_4",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw010/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.528,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_1_room",
+                    "min_size": [
+                        0.09940219,
+                        0.0994084,
+                        0.12121953
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup021/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.6161035216202366,
+                    1.4
+                ],
+                "offset": [
+                    0.6498517514665196,
+                    2.0816681711721685e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_1_room",
+        "dining_counter": "island_island_group",
+        "drawer": "island_cab_left_island_group_4"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.47907742214917,
+        -1.769657132731805,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        4.712296326794897
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000068/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000068/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..37200be3820ae461c923adf2383832939cc8773f
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000068/ep_meta.json
@@ -0,0 +1,451 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_4_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw012/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.06561669,
+                        0.065618,
+                        0.14712964
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup023/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.683303489825889,
+                    0.8450000000000001
+                ],
+                "offset": [
+                    -0.00014824574345695396,
+                    0.27749999999999986,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_4_main_group_2"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.555221995666597,
+        -0.7630089522641483,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000070/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000070/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b5ad6464fc386a22abf13631785fa494bcf7645
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000070/ep_meta.json
@@ -0,0 +1,439 @@
+{
+    "layout_id": 4,
+    "style_id": 4,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_3_left_group_3",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw009/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.06024275,
+                        0.0602428,
+                        0.114128
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup025/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.4399842052305356,
+                    1.6
+                ],
+                "offset": [
+                    0.005007897384732285,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_right_main_group": {
+            "cls": "Counter"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "fridge_cab_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_left_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_left_group": {
+            "cls": "Box"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_left_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_3_left_group_3"
+    },
+    "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": [
+        0.7679683010308509,
+        -0.922491048078559,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415963267948968
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000077/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000077/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e028b57b43cd8c09e7fc616c1bbeb17e2328cce
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000077/ep_meta.json
@@ -0,0 +1,439 @@
+{
+    "layout_id": 4,
+    "style_id": 4,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_3_left_group_3",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw010/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_1_room",
+                    "min_size": [
+                        0.06024275,
+                        0.0602428,
+                        0.114128
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup025/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.1399842052393057,
+                    1.6
+                ],
+                "offset": [
+                    0.6550078973803473,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_right_main_group": {
+            "cls": "Counter"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "fridge_cab_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_left_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_left_group": {
+            "cls": "Box"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_left_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_1_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_3_left_group_3"
+    },
+    "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": [
+        0.7731982501502641,
+        -1.0077823086413433,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415963267948968
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000081/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000081/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b20021a8b2471a9e12fde22d33a4fcc508ad2b1d
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000081/ep_meta.json
@@ -0,0 +1,469 @@
+{
+    "layout_id": 8,
+    "style_id": 8,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_2_left_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw008/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_front_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.08641,
+                        0.086454,
+                        0.109506
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup024/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.1999258801329122,
+                    0.65
+                ],
+                "offset": [
+                    -0.35003705993354384,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "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"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "flower_vase_right_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "counter_1_front_group",
+        "drawer": "stack_2_left_group_2"
+    },
+    "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": [
+        0.7750480749589469,
+        -0.9026913935572533,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415963267948968
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000082/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000082/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d752aed586530465da0b51ad88068866621ee22b
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000082/ep_meta.json
@@ -0,0 +1,439 @@
+{
+    "layout_id": 4,
+    "style_id": 4,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_1_main_group_4",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw012/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.8779999999999999,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_3_room",
+                    "min_size": [
+                        0.06996087000000001,
+                        0.06996051,
+                        0.1
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup022/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.1600157947782348,
+                    1.6
+                ],
+                "offset": [
+                    -0.6449921026108827,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_right_main_group": {
+            "cls": "Counter"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "fridge_cab_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_left_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_left_group": {
+            "cls": "Box"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_left_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_3_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_1_main_group_4"
+    },
+    "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": [
+        1.1124352058848495,
+        -0.8059660544317084,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000085/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000085/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..33b975447b3572b1175c68b3514e27349d4cb336
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000085/ep_meta.json
@@ -0,0 +1,529 @@
+{
+    "layout_id": 10,
+    "style_id": 10,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_2_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw011/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_dining_area_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.06024275,
+                        0.0602428,
+                        0.114128
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup025/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.249796168970498,
+                    1.0
+                ],
+                "offset": [
+                    -0.00010191551475102756,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_room": {
+            "cls": "Wall"
+        },
+        "wall_front_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_2_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_front_room": {
+            "cls": "Floor"
+        },
+        "floor_front_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "right_corner_box_main_group": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_4": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_left_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "box_left_top_left_group": {
+            "cls": "Box"
+        },
+        "box_left_bottom_left_group": {
+            "cls": "Box"
+        },
+        "box_right_top_left_group": {
+            "cls": "Box"
+        },
+        "box_right_bottom_left_group": {
+            "cls": "Box"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_2": {
+            "cls": "Drawer"
+        },
+        "shelves_front_group": {
+            "cls": "OpenCabinet"
+        },
+        "bottom_front_group_base": {
+            "cls": "Box"
+        },
+        "bottom_front_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_front_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_middle_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_front_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_front_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "utensil_set_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_dining_area_group": {
+            "cls": "Counter"
+        },
+        "paper_towel_dining_area_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_dining_area_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "counter_1_dining_area_group",
+        "drawer": "stack_2_main_group_2"
+    },
+    "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": [
+        1.9150339319583107,
+        -0.8488238611985638,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000090/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000090/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7c0166282db40efb347cd726a98f8990a236f14
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000090/ep_meta.json
@@ -0,0 +1,439 @@
+{
+    "layout_id": 4,
+    "style_id": 4,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_3_left_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw009/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_3_room",
+                    "min_size": [
+                        0.06561669,
+                        0.065618,
+                        0.14712964
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup023/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.1600157947782348,
+                    1.6
+                ],
+                "offset": [
+                    -0.6449921026108827,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_right_main_group": {
+            "cls": "Counter"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "fridge_cab_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_left_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_left_group": {
+            "cls": "Box"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_left_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_3_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_3_left_group_2"
+    },
+    "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": [
+        0.756081191923617,
+        -1.4357831038721316,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415963267948968
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000091/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000091/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a69f2f4c9f9a84d1b43b8e801f0233374ca6b29
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000091/ep_meta.json
@@ -0,0 +1,469 @@
+{
+    "layout_id": 8,
+    "style_id": 8,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_2_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw009/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_front_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_1_room",
+                    "min_size": [
+                        0.08641,
+                        0.086454,
+                        0.109506
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup024/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.100074126305603,
+                    0.65
+                ],
+                "offset": [
+                    0.3999629368471984,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "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"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "flower_vase_right_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_1_room",
+        "dining_counter": "counter_1_front_group",
+        "drawer": "stack_2_main_group_2"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.029158271320902,
+        -0.7964175191182644,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000093/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000093/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7204d197017d8356f0c8ae82d3dfc87f9f188b61
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000093/ep_meta.json
@@ -0,0 +1,598 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "island_cab_right_island_group_4",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw011/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.528,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_3_room",
+                    "min_size": [
+                        0.09940219,
+                        0.0994084,
+                        0.12121953
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup021/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.4979272900853289,
+                    1.55
+                ],
+                "offset": [
+                    -0.6500648547227392,
+                    2.0816681711721685e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "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": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_3_room",
+        "dining_counter": "island_island_group",
+        "drawer": "island_cab_right_island_group_4"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.3466984450827533,
+        -1.7706879041797872,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        4.712296326794897
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000094/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000094/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c711bac5aec6dc6080f5158fa472638896be0eab
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000094/ep_meta.json
@@ -0,0 +1,469 @@
+{
+    "layout_id": 8,
+    "style_id": 8,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_3_main_group_4",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw011/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.8779999999999999,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_front_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.08641,
+                        0.086454,
+                        0.109506
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup024/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.1999258801329122,
+                    0.65
+                ],
+                "offset": [
+                    -0.35003705993354384,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "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"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "flower_vase_right_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "counter_1_front_group",
+        "drawer": "stack_3_main_group_4"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.121538400553573,
+        -0.8400173189714584,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000095/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000095/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..71faa9f0400aa14638e8887a8d2be4a5ac6e0d8e
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000095/ep_meta.json
@@ -0,0 +1,451 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "island_cab_left_island_group_4",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw011/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.528,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_1_room",
+                    "min_size": [
+                        0.09940219,
+                        0.0994084,
+                        0.12121953
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup021/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.6161035216202366,
+                    1.4
+                ],
+                "offset": [
+                    0.6498517514665196,
+                    2.0816681711721685e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_1_room",
+        "dining_counter": "island_island_group",
+        "drawer": "island_cab_left_island_group_4"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.675156617153464,
+        -1.7644955113849243,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        4.712296326794897
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000096/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000096/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8fc6b9aca31a901ed2f6dbd35de85c754d799d86
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000096/ep_meta.json
@@ -0,0 +1,439 @@
+{
+    "layout_id": 4,
+    "style_id": 4,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_3_left_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw012/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_1_room",
+                    "min_size": [
+                        0.09940219,
+                        0.0994084,
+                        0.12121953
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup021/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.1399842052393057,
+                    1.6
+                ],
+                "offset": [
+                    0.6550078973803473,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_right_main_group": {
+            "cls": "Counter"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "fridge_cab_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_left_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_left_group": {
+            "cls": "Box"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_left_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_1_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_3_left_group_2"
+    },
+    "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": [
+        0.7565994648570125,
+        -1.563444147297995,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415963267948968
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000097/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000097/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8800f4b1181c96491143e5442488e71d6847376e
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000097/ep_meta.json
@@ -0,0 +1,598 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_5_main_group_3",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw009/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.08641,
+                        0.086454,
+                        0.109506
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup024/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.8020727043346244,
+                    0.9350000000000002
+                ],
+                "offset": [
+                    -6.48575127626394e-05,
+                    0.3075,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "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": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_5_main_group_3"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.98807163179667,
+        -0.8370088445774063,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000098/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000098/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..98dd5d62a9952a307c39526db97b54e43a54b6da
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000098/ep_meta.json
@@ -0,0 +1,451 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_3_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw011/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_1_room",
+                    "min_size": [
+                        0.08641,
+                        0.086454,
+                        0.109506
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup024/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.6161035216202366,
+                    1.4
+                ],
+                "offset": [
+                    0.6498517514665196,
+                    2.0816681711721685e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_1_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_3_main_group_2"
+    },
+    "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": [
+        1.6244679419773358,
+        -0.796132809803706,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000102/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000102/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..687a12395e7a68eb68bc062a80aeeb104fe515e8
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000102/ep_meta.json
@@ -0,0 +1,598 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_2_main_group_3",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw012/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.06996087000000001,
+                        0.06996051,
+                        0.1
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup022/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.8020727043346244,
+                    0.9350000000000002
+                ],
+                "offset": [
+                    -6.48575127626394e-05,
+                    0.3075,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "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": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_2_main_group_3"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.518662753305133,
+        -0.7715479244086095,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000104/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000104/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9654a17f80f8882470f4cff827390ae090f201e
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000104/ep_meta.json
@@ -0,0 +1,523 @@
+{
+    "layout_id": 9,
+    "style_id": 9,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_2_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw011/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_front_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_1_room",
+                    "min_size": [
+                        0.06024275,
+                        0.0602428,
+                        0.114128
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup025/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.2500741284517756,
+                    0.65
+                ],
+                "offset": [
+                    0.6499629357741121,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_1_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_2_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "salt_shaker_front_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_front_group_auxiliary_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "plant_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_left_group": {
+            "cls": "Accessory"
+        },
+        "stack_left_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_right_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "cab_top_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_right_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "side_bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "side_bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_3": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_1_room",
+        "dining_counter": "counter_1_front_group",
+        "drawer": "stack_2_main_group_2"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.0987245187253127,
+        -0.8210156269094484,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000105/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000105/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b92c88a2a19793b395ed1e078a5679268f8ff1b
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000105/ep_meta.json
@@ -0,0 +1,529 @@
+{
+    "layout_id": 10,
+    "style_id": 10,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_1_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw012/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_dining_area_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_1_room",
+                    "min_size": [
+                        0.06024275,
+                        0.0602428,
+                        0.114128
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup025/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.0502038361803159,
+                    1.0
+                ],
+                "offset": [
+                    0.5998980819098421,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_room": {
+            "cls": "Wall"
+        },
+        "wall_front_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_2_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_front_room": {
+            "cls": "Floor"
+        },
+        "floor_front_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "right_corner_box_main_group": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_4": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_left_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "box_left_top_left_group": {
+            "cls": "Box"
+        },
+        "box_left_bottom_left_group": {
+            "cls": "Box"
+        },
+        "box_right_top_left_group": {
+            "cls": "Box"
+        },
+        "box_right_bottom_left_group": {
+            "cls": "Box"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_2": {
+            "cls": "Drawer"
+        },
+        "shelves_front_group": {
+            "cls": "OpenCabinet"
+        },
+        "bottom_front_group_base": {
+            "cls": "Box"
+        },
+        "bottom_front_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_front_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_middle_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_front_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_front_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "utensil_set_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_dining_area_group": {
+            "cls": "Counter"
+        },
+        "paper_towel_dining_area_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_dining_area_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_1_room",
+        "dining_counter": "counter_1_dining_area_group",
+        "drawer": "stack_1_main_group_2"
+    },
+    "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": [
+        0.8491718265751615,
+        -0.7901981132418646,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000106/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000106/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0a7a55fb1cd5947e834d26328390a4b8279486a1
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000106/ep_meta.json
@@ -0,0 +1,598 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_1_left_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw011/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.06024275,
+                        0.0602428,
+                        0.114128
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup025/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.8020727043346244,
+                    0.9350000000000002
+                ],
+                "offset": [
+                    -6.48575127626394e-05,
+                    0.3075,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "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": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_1_left_group_2"
+    },
+    "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": [
+        0.8436737833176833,
+        -2.3554665643825037,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415963267948968
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000108/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000108/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6cc24e1fb2aad8f5d0a54e6cd2fc1fd2c7f757c
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000108/ep_meta.json
@@ -0,0 +1,523 @@
+{
+    "layout_id": 9,
+    "style_id": 9,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_1_main_group_4",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw010/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.8779999999999999,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_front_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.06996087000000001,
+                        0.06996051,
+                        0.1
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup022/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.549925877128271,
+                    0.65
+                ],
+                "offset": [
+                    -3.7061435864460535e-05,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_1_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_2_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "salt_shaker_front_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_front_group_auxiliary_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "plant_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_left_group": {
+            "cls": "Accessory"
+        },
+        "stack_left_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_right_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "cab_top_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_right_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "side_bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "side_bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_3": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "counter_1_front_group",
+        "drawer": "stack_1_main_group_4"
+    },
+    "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": [
+        1.3088995055699246,
+        -0.8353799368033182,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000109/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000109/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c3a872092877c5e7c21c42f2980f6eb80f4ca729
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000109/ep_meta.json
@@ -0,0 +1,451 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "island_cab_left_island_group_4",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw009/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.528,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.06024275,
+                        0.0602428,
+                        0.114128
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup025/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.683303489825889,
+                    0.8450000000000001
+                ],
+                "offset": [
+                    -0.00014824574345695396,
+                    0.27749999999999986,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "island_island_group",
+        "drawer": "island_cab_left_island_group_4"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.6860304986752226,
+        -1.7717578720600198,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        4.712296326794897
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000113/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000113/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d6d01ecd0b205afb25cc48147504936ae4b568e1
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000113/ep_meta.json
@@ -0,0 +1,469 @@
+{
+    "layout_id": 8,
+    "style_id": 8,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_3_main_group_4",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw010/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.8779999999999999,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_front_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.06024275,
+                        0.0602428,
+                        0.114128
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup025/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.1999258801329122,
+                    0.65
+                ],
+                "offset": [
+                    -0.35003705993354384,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "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"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "flower_vase_right_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "counter_1_front_group",
+        "drawer": "stack_3_main_group_4"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.297774507853508,
+        -0.8209790582764117,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000114/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000114/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e6606dc48a73ff026d4d956a4795e2af901a3073
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000114/ep_meta.json
@@ -0,0 +1,598 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_5_main_group_3",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw012/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_3_room",
+                    "min_size": [
+                        0.06561669,
+                        0.065618,
+                        0.14712964
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup023/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.4979272900853289,
+                    1.55
+                ],
+                "offset": [
+                    -0.6500648547227392,
+                    2.0816681711721685e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "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": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_3_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_5_main_group_3"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.986148874336474,
+        -0.7780147035332008,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000116/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000116/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..936e8c0847afafa7c6ad2eb04fc8aab889b3bf52
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000116/ep_meta.json
@@ -0,0 +1,598 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_1_left_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw011/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_3_room",
+                    "min_size": [
+                        0.06561669,
+                        0.065618,
+                        0.14712964
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup023/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.4979272900853289,
+                    1.55
+                ],
+                "offset": [
+                    -0.6500648547227392,
+                    2.0816681711721685e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "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": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_3_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_1_left_group_2"
+    },
+    "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": [
+        0.8479430055919616,
+        -2.3392880306397306,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415963267948968
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000117/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000117/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..490dcd756d7d84543149e6bbe2e9967d84f55118
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000117/ep_meta.json
@@ -0,0 +1,451 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_3_main_group_3",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw010/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_3_room",
+                    "min_size": [
+                        0.09940219,
+                        0.0994084,
+                        0.12121953
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup021/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.6166965045940636,
+                    1.4
+                ],
+                "offset": [
+                    -0.6501482429534331,
+                    2.0816681711721685e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_3_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_3_main_group_3"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.0538255943634627,
+        -0.7884158845388152,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000118/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000118/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1faac41fed4c8e2d25ca57c6c5570b517f163f06
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000118/ep_meta.json
@@ -0,0 +1,598 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_3_right_group_4",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw010/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_3_room",
+                    "min_size": [
+                        0.06996087000000001,
+                        0.06996051,
+                        0.1
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup022/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.4979272900853289,
+                    1.55
+                ],
+                "offset": [
+                    -0.6500648547227392,
+                    2.0816681711721685e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "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": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_3_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_3_right_group_4"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        5.600732383807503,
+        -2.3515320776667887,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000120/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000120/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce2789117ba277c9bb778d7b918597a96d6d5e29
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000120/ep_meta.json
@@ -0,0 +1,469 @@
+{
+    "layout_id": 8,
+    "style_id": 8,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_2_main_group_3",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw010/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_front_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_1_room",
+                    "min_size": [
+                        0.09940219,
+                        0.0994084,
+                        0.12121953
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup021/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.100074126305603,
+                    0.65
+                ],
+                "offset": [
+                    0.3999629368471984,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "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"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "flower_vase_right_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_1_room",
+        "dining_counter": "counter_1_front_group",
+        "drawer": "stack_2_main_group_3"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.441600451655443,
+        -0.7621766656825462,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000121/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000121/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b9358d37a4f4a7d24e2b0a8667b1273f4284a0b4
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000121/ep_meta.json
@@ -0,0 +1,469 @@
+{
+    "layout_id": 8,
+    "style_id": 8,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_1_main_group_3",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw011/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_front_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.08641,
+                        0.086454,
+                        0.109506
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup024/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.1999258801329122,
+                    0.65
+                ],
+                "offset": [
+                    -0.35003705993354384,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "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"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "flower_vase_right_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "counter_1_front_group",
+        "drawer": "stack_1_main_group_3"
+    },
+    "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": [
+        1.3114064030584733,
+        -0.8037266940282641,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000122/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000122/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0167f4f7ae8eec80327a5e69e952f2010e7fbcc
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000122/ep_meta.json
@@ -0,0 +1,529 @@
+{
+    "layout_id": 10,
+    "style_id": 10,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_3_main_group_3",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw009/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_dining_area_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_3_room",
+                    "min_size": [
+                        0.08641,
+                        0.086454,
+                        0.109506
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup024/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.0497961741213082,
+                    1.0
+                ],
+                "offset": [
+                    -0.6001019129393459,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_room": {
+            "cls": "Wall"
+        },
+        "wall_front_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_2_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_front_room": {
+            "cls": "Floor"
+        },
+        "floor_front_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "right_corner_box_main_group": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_4": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_left_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "box_left_top_left_group": {
+            "cls": "Box"
+        },
+        "box_left_bottom_left_group": {
+            "cls": "Box"
+        },
+        "box_right_top_left_group": {
+            "cls": "Box"
+        },
+        "box_right_bottom_left_group": {
+            "cls": "Box"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_2": {
+            "cls": "Drawer"
+        },
+        "shelves_front_group": {
+            "cls": "OpenCabinet"
+        },
+        "bottom_front_group_base": {
+            "cls": "Box"
+        },
+        "bottom_front_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_front_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_middle_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_front_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_front_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "utensil_set_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_dining_area_group": {
+            "cls": "Counter"
+        },
+        "paper_towel_dining_area_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_dining_area_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_3_room",
+        "dining_counter": "counter_1_dining_area_group",
+        "drawer": "stack_3_main_group_3"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.237868304635567,
+        -0.7999765572143194,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000123/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000123/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..199985a22da388113af8bddf839e005678b6db64
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000123/ep_meta.json
@@ -0,0 +1,598 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_5_main_group_3",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw011/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.06996087000000001,
+                        0.06996051,
+                        0.1
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup022/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.8020727043346244,
+                    0.9350000000000002
+                ],
+                "offset": [
+                    -6.48575127626394e-05,
+                    0.3075,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "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": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_5_main_group_3"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        5.056789063034377,
+        -0.8290803479326216,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000125/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000125/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..531f9841eaf00332c0397d810e4da53f82a0a8bb
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000125/ep_meta.json
@@ -0,0 +1,451 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_6_main_group_4",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw010/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.6779999999999999,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_1_room",
+                    "min_size": [
+                        0.06024275,
+                        0.0602428,
+                        0.114128
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup025/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.6161035216202366,
+                    1.4
+                ],
+                "offset": [
+                    0.6498517514665196,
+                    2.0816681711721685e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_1_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_6_main_group_4"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.772291163271041,
+        -0.8034920425019195,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000126/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000126/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..80f644177f3de659a596f0bfe7ece2875c69b2bb
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000126/ep_meta.json
@@ -0,0 +1,439 @@
+{
+    "layout_id": 4,
+    "style_id": 4,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_3_left_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw011/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.06561669,
+                        0.065618,
+                        0.14712964
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup023/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.4399842052305356,
+                    1.6
+                ],
+                "offset": [
+                    0.005007897384732285,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_right_main_group": {
+            "cls": "Counter"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "fridge_cab_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_left_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_left_group": {
+            "cls": "Box"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_left_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_3_left_group_2"
+    },
+    "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": [
+        0.81167800895163,
+        -1.3261466067438659,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415963267948968
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000127/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000127/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7fcfb3caf242adefff5d3d720ca255ba47425cf3
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000127/ep_meta.json
@@ -0,0 +1,451 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_3_main_group_3",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw010/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_1_room",
+                    "min_size": [
+                        0.06561669,
+                        0.065618,
+                        0.14712964
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup023/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.6161035216202366,
+                    1.4
+                ],
+                "offset": [
+                    0.6498517514665196,
+                    2.0816681711721685e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_1_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_3_main_group_3"
+    },
+    "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": [
+        1.9550938741297241,
+        -0.7950610938033837,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000129/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000129/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6624685e62c5baddd2df3977096070d93de1968e
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000129/ep_meta.json
@@ -0,0 +1,598 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_2_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw011/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_3_room",
+                    "min_size": [
+                        0.09940219,
+                        0.0994084,
+                        0.12121953
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup021/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.4979272900853289,
+                    1.55
+                ],
+                "offset": [
+                    -0.6500648547227392,
+                    2.0816681711721685e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "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": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_3_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_2_main_group_2"
+    },
+    "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": [
+        1.9336564464741806,
+        -0.7734944338610436,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000130/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000130/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6b75d4686d2e441056e219733c461b1dda959c17
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000130/ep_meta.json
@@ -0,0 +1,598 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_2_main_group_3",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw008/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_3_room",
+                    "min_size": [
+                        0.09940219,
+                        0.0994084,
+                        0.12121953
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup021/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.4979272900853289,
+                    1.55
+                ],
+                "offset": [
+                    -0.6500648547227392,
+                    2.0816681711721685e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "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": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_3_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_2_main_group_3"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.5311394852543256,
+        -0.7638911544806297,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000132/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000132/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2a6cb2a37cbd50d323fa0aa4cea3955bdbfd30e
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000132/ep_meta.json
@@ -0,0 +1,598 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_2_right_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw009/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.06561669,
+                        0.065618,
+                        0.14712964
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup023/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.8020727043346244,
+                    0.9350000000000002
+                ],
+                "offset": [
+                    -6.48575127626394e-05,
+                    0.3075,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "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": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_2_right_group_2"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        5.581892448602611,
+        -1.8784717767896713,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000133/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000133/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..443e68a13da61c10821bb1000c5e2f1d4a905233
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000133/ep_meta.json
@@ -0,0 +1,523 @@
+{
+    "layout_id": 9,
+    "style_id": 9,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_5_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw009/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_front_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_3_room",
+                    "min_size": [
+                        0.06996087000000001,
+                        0.06996051,
+                        0.1
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup022/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.2499258827083182,
+                    0.65
+                ],
+                "offset": [
+                    -0.6500370586458408,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_1_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_2_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "salt_shaker_front_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_front_group_auxiliary_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "plant_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_left_group": {
+            "cls": "Accessory"
+        },
+        "stack_left_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_right_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "cab_top_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_right_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "side_bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "side_bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_3": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_3_room",
+        "dining_counter": "counter_1_front_group",
+        "drawer": "stack_5_main_group_2"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.829177196589198,
+        -0.8137581137774462,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000134/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000134/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..673fc00a26cfcac3c05033fbd01373f391524515
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000134/ep_meta.json
@@ -0,0 +1,598 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_2_right_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw008/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_1_room",
+                    "min_size": [
+                        0.09940219,
+                        0.0994084,
+                        0.12121953
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup021/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.4976678600342783,
+                    1.55
+                ],
+                "offset": [
+                    0.649935139697214,
+                    2.0816681711721685e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "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": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_1_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_2_right_group_2"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        5.629281625250515,
+        -1.8826314886298243,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000135/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000135/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..626eec37067df3b31cdf92deff94ceb9f797b503
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000135/ep_meta.json
@@ -0,0 +1,529 @@
+{
+    "layout_id": 10,
+    "style_id": 10,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_4_main_group_4",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw012/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.6779999999999999,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_dining_area_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.06996087000000001,
+                        0.06996051,
+                        0.1
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup022/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.249796168970498,
+                    1.0
+                ],
+                "offset": [
+                    -0.00010191551475102756,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_room": {
+            "cls": "Wall"
+        },
+        "wall_front_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_2_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_front_room": {
+            "cls": "Floor"
+        },
+        "floor_front_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "right_corner_box_main_group": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_4": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_left_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "box_left_top_left_group": {
+            "cls": "Box"
+        },
+        "box_left_bottom_left_group": {
+            "cls": "Box"
+        },
+        "box_right_top_left_group": {
+            "cls": "Box"
+        },
+        "box_right_bottom_left_group": {
+            "cls": "Box"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_2": {
+            "cls": "Drawer"
+        },
+        "shelves_front_group": {
+            "cls": "OpenCabinet"
+        },
+        "bottom_front_group_base": {
+            "cls": "Box"
+        },
+        "bottom_front_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_front_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_middle_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_front_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_front_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "utensil_set_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_dining_area_group": {
+            "cls": "Counter"
+        },
+        "paper_towel_dining_area_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_dining_area_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "counter_1_dining_area_group",
+        "drawer": "stack_4_main_group_4"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.959744791611204,
+        -0.8023436286648967,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000137/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000137/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..30bff7a3f763109db9c4325971e223544a794601
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000137/ep_meta.json
@@ -0,0 +1,598 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_3_right_group_4",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw008/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.06024275,
+                        0.0602428,
+                        0.114128
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup025/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.8020727043346244,
+                    0.9350000000000002
+                ],
+                "offset": [
+                    -6.48575127626394e-05,
+                    0.3075,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "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": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_3_right_group_4"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        5.5718084421744924,
+        -2.3467287181352865,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000142/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000142/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e3097dcb280ed6d2796fb56612a28f7e10440371
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000142/ep_meta.json
@@ -0,0 +1,451 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_4_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw010/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_3_room",
+                    "min_size": [
+                        0.06996087000000001,
+                        0.06996051,
+                        0.1
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup022/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.6166965045940636,
+                    1.4
+                ],
+                "offset": [
+                    -0.6501482429534331,
+                    2.0816681711721685e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_3_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_4_main_group_2"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.579112772116324,
+        -0.7930265661669127,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000144/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000144/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f329c93c5769206269a778261e814e13d38079b1
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000144/ep_meta.json
@@ -0,0 +1,469 @@
+{
+    "layout_id": 8,
+    "style_id": 8,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_2_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw012/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_front_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_1_room",
+                    "min_size": [
+                        0.09940219,
+                        0.0994084,
+                        0.12121953
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup021/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.100074126305603,
+                    0.65
+                ],
+                "offset": [
+                    0.3999629368471984,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "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"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "flower_vase_right_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_1_room",
+        "dining_counter": "counter_1_front_group",
+        "drawer": "stack_2_main_group_2"
+    },
+    "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": [
+        1.8945183120344349,
+        -0.751482008505575,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000146/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000146/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdc4a99a3a810e666abf5b5c11542c4531c3284e
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000146/ep_meta.json
@@ -0,0 +1,451 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_3_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw012/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_3_room",
+                    "min_size": [
+                        0.06561669,
+                        0.065618,
+                        0.14712964
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup023/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.6166965045940636,
+                    1.4
+                ],
+                "offset": [
+                    -0.6501482429534331,
+                    2.0816681711721685e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_3_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_3_main_group_2"
+    },
+    "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": [
+        1.6228031019425109,
+        -0.8188392724857414,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000147/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000147/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7a9c68bc71fcb8e08c29698738ec77d1932cde4e
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000147/ep_meta.json
@@ -0,0 +1,598 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_1_left_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw010/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_3_room",
+                    "min_size": [
+                        0.08641,
+                        0.086454,
+                        0.109506
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup024/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.4979272900853289,
+                    1.55
+                ],
+                "offset": [
+                    -0.6500648547227392,
+                    2.0816681711721685e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "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": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_3_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_1_left_group_2"
+    },
+    "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": [
+        0.8349376376665232,
+        -2.398119850950574,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415963267948968
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000151/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000151/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c4333bdaf66fc4657c6beb1cccdd72ab7978aa21
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000151/ep_meta.json
@@ -0,0 +1,451 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_4_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw012/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.06561669,
+                        0.065618,
+                        0.14712964
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup023/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.683303489825889,
+                    0.8450000000000001
+                ],
+                "offset": [
+                    -0.00014824574345695396,
+                    0.27749999999999986,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_4_main_group_2"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.5618749057428256,
+        -0.7652396839202,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000152/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000152/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d9403b05af1f03e59e2d418a075a3798954a477
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000152/ep_meta.json
@@ -0,0 +1,451 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_3_main_group_3",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw011/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_3_room",
+                    "min_size": [
+                        0.09940219,
+                        0.0994084,
+                        0.12121953
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup021/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.6166965045940636,
+                    1.4
+                ],
+                "offset": [
+                    -0.6501482429534331,
+                    2.0816681711721685e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_3_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_3_main_group_3"
+    },
+    "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": [
+        1.8519888685010621,
+        -0.7506368834191133,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000154/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000154/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..71ab77f8760dd956dde3064dd9c77ab756b5a6ac
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000154/ep_meta.json
@@ -0,0 +1,598 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_1_right_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw010/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.06996087000000001,
+                        0.06996051,
+                        0.1
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup022/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.8020727043346244,
+                    0.9350000000000002
+                ],
+                "offset": [
+                    -6.48575127626394e-05,
+                    0.3075,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "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": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_1_right_group_2"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        5.566740320749633,
+        -1.012601417654305,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000163/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000163/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..98b987e2ca196fadc210cea2d9ae141613d8a372
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000163/ep_meta.json
@@ -0,0 +1,451 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_3_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw010/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_1_room",
+                    "min_size": [
+                        0.06996087000000001,
+                        0.06996051,
+                        0.1
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup022/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.6161035216202366,
+                    1.4
+                ],
+                "offset": [
+                    0.6498517514665196,
+                    2.0816681711721685e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_1_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_3_main_group_2"
+    },
+    "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": [
+        1.629634206509904,
+        -0.8335915008834089,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000167/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000167/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..15c1f8f2b9c551e7d9fb9b44cdae2c89498a14f6
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000167/ep_meta.json
@@ -0,0 +1,598 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_1_right_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw010/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_3_room",
+                    "min_size": [
+                        0.06561669,
+                        0.065618,
+                        0.14712964
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup023/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.4979272900853289,
+                    1.55
+                ],
+                "offset": [
+                    -0.6500648547227392,
+                    2.0816681711721685e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "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": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_3_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_1_right_group_2"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        5.597154086947286,
+        -0.9085069457772164,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000170/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000170/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7fc3e3efb8575b59b361fe653dcfd29afd5c17e2
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000170/ep_meta.json
@@ -0,0 +1,451 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_5_main_group_3",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw012/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_1_room",
+                    "min_size": [
+                        0.06996087000000001,
+                        0.06996051,
+                        0.1
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup022/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.6161035216202366,
+                    1.4
+                ],
+                "offset": [
+                    0.6498517514665196,
+                    2.0816681711721685e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_1_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_5_main_group_3"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.139956161040736,
+        -0.8435998442851067,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000171/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000171/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9362ab442b5af957882064e4fc226dfa530070f1
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000171/ep_meta.json
@@ -0,0 +1,529 @@
+{
+    "layout_id": 10,
+    "style_id": 10,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_2_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw012/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_dining_area_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.06561669,
+                        0.065618,
+                        0.14712964
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup023/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.249796168970498,
+                    1.0
+                ],
+                "offset": [
+                    -0.00010191551475102756,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_room": {
+            "cls": "Wall"
+        },
+        "wall_front_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_2_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_front_room": {
+            "cls": "Floor"
+        },
+        "floor_front_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "right_corner_box_main_group": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_4": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_left_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "box_left_top_left_group": {
+            "cls": "Box"
+        },
+        "box_left_bottom_left_group": {
+            "cls": "Box"
+        },
+        "box_right_top_left_group": {
+            "cls": "Box"
+        },
+        "box_right_bottom_left_group": {
+            "cls": "Box"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_2": {
+            "cls": "Drawer"
+        },
+        "shelves_front_group": {
+            "cls": "OpenCabinet"
+        },
+        "bottom_front_group_base": {
+            "cls": "Box"
+        },
+        "bottom_front_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_front_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_middle_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_front_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_front_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "utensil_set_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_dining_area_group": {
+            "cls": "Counter"
+        },
+        "paper_towel_dining_area_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_dining_area_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "counter_1_dining_area_group",
+        "drawer": "stack_2_main_group_2"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.042405269665697,
+        -0.7744476469961575,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000172/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000172/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5ba16eeb7ac10ac8661279bebe700227bcc1ba00
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000172/ep_meta.json
@@ -0,0 +1,439 @@
+{
+    "layout_id": 4,
+    "style_id": 4,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_3_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw009/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_1_room",
+                    "min_size": [
+                        0.06996087000000001,
+                        0.06996051,
+                        0.1
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup022/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.1399842052393057,
+                    1.6
+                ],
+                "offset": [
+                    0.6550078973803473,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_right_main_group": {
+            "cls": "Counter"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "fridge_cab_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_left_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_left_group": {
+            "cls": "Box"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_left_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_1_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_3_main_group_2"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.977294777290916,
+        -0.7960321978233006,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000173/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000173/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b536218e4e074521fae823dcb6af44d901a1978
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000173/ep_meta.json
@@ -0,0 +1,469 @@
+{
+    "layout_id": 8,
+    "style_id": 8,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_2_right_group_4",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw010/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.328,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_front_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_1_room",
+                    "min_size": [
+                        0.06024275,
+                        0.0602428,
+                        0.114128
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup025/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.100074126305603,
+                    0.65
+                ],
+                "offset": [
+                    0.3999629368471984,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "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"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "flower_vase_right_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_1_room",
+        "dining_counter": "counter_1_front_group",
+        "drawer": "stack_2_right_group_4"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.5627490035199845,
+        -2.557043151977308,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000175/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000175/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..55c7265f7c1303efac267e8f2f5a298bed6729f9
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000175/ep_meta.json
@@ -0,0 +1,451 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_4_main_group_3",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw008/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.06996087000000001,
+                        0.06996051,
+                        0.1
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup022/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.683303489825889,
+                    0.8450000000000001
+                ],
+                "offset": [
+                    -0.00014824574345695396,
+                    0.27749999999999986,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_4_main_group_3"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.8879056442536344,
+        -0.8017839831539098,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000176/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000176/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b64f140d3bf40384399b56d77258729bd5fd9c9e
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000176/ep_meta.json
@@ -0,0 +1,439 @@
+{
+    "layout_id": 4,
+    "style_id": 4,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_3_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw012/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_3_room",
+                    "min_size": [
+                        0.06996087000000001,
+                        0.06996051,
+                        0.1
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup022/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.1600157947782348,
+                    1.6
+                ],
+                "offset": [
+                    -0.6449921026108827,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_right_main_group": {
+            "cls": "Counter"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "fridge_cab_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_left_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_left_group": {
+            "cls": "Box"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_left_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_3_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_3_main_group_2"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.993496693662796,
+        -0.8037609507115425,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000177/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000177/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..286ccef49b12bb9a2d37b1bff59a27d15ed3be3d
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000177/ep_meta.json
@@ -0,0 +1,451 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_6_main_group_4",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw012/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.6779999999999999,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_1_room",
+                    "min_size": [
+                        0.09940219,
+                        0.0994084,
+                        0.12121953
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup021/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.6161035216202366,
+                    1.4
+                ],
+                "offset": [
+                    0.6498517514665196,
+                    2.0816681711721685e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_1_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_6_main_group_4"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.6331799435238565,
+        -0.8471269383293676,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000179/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000179/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..887d8ecc82ce4cdc97faa7c8b7eede629779bcb1
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000179/ep_meta.json
@@ -0,0 +1,451 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_4_main_group_3",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw008/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.06996087000000001,
+                        0.06996051,
+                        0.1
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup022/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.683303489825889,
+                    0.8450000000000001
+                ],
+                "offset": [
+                    -0.00014824574345695396,
+                    0.27749999999999986,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_4_main_group_3"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.9860086783307955,
+        -0.760136945982768,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000181/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000181/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0b5a44757c11710147a1795b46a332ff625ee981
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000181/ep_meta.json
@@ -0,0 +1,451 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_5_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw008/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_1_room",
+                    "min_size": [
+                        0.08641,
+                        0.086454,
+                        0.109506
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup024/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.6161035216202366,
+                    1.4
+                ],
+                "offset": [
+                    0.6498517514665196,
+                    2.0816681711721685e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_1_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_5_main_group_2"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.536939369672191,
+        -0.7609012625672618,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000183/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000183/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..30b050afed194b2e4c2be48048b57ad289596993
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000183/ep_meta.json
@@ -0,0 +1,451 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_4_main_group_3",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw011/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.06024275,
+                        0.0602428,
+                        0.114128
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup025/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.683303489825889,
+                    0.8450000000000001
+                ],
+                "offset": [
+                    -0.00014824574345695396,
+                    0.27749999999999986,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_4_main_group_3"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.0766892783875655,
+        -0.7770387296642652,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000193/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000193/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c2173547882fce3b162f29d34d996d5204409f56
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000193/ep_meta.json
@@ -0,0 +1,439 @@
+{
+    "layout_id": 4,
+    "style_id": 4,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_3_left_group_3",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw010/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_1_room",
+                    "min_size": [
+                        0.06996087000000001,
+                        0.06996051,
+                        0.1
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup022/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.1399842052393057,
+                    1.6
+                ],
+                "offset": [
+                    0.6550078973803473,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_right_main_group": {
+            "cls": "Counter"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "fridge_cab_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_left_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_left_group": {
+            "cls": "Box"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_left_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_1_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_3_left_group_3"
+    },
+    "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": [
+        0.7898659323113594,
+        -1.0763392288265339,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415963267948968
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000194/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000194/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a16cd4e359ad95f80b1c804d4a98f5a3b33481c1
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000194/ep_meta.json
@@ -0,0 +1,469 @@
+{
+    "layout_id": 8,
+    "style_id": 8,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_2_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw012/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_front_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.09940219,
+                        0.0994084,
+                        0.12121953
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup021/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.1999258801329122,
+                    0.65
+                ],
+                "offset": [
+                    -0.35003705993354384,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "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"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "flower_vase_right_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "counter_1_front_group",
+        "drawer": "stack_2_main_group_2"
+    },
+    "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": [
+        1.959834996857779,
+        -0.798925118211945,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000195/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000195/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee8dc1da4636380a3bc89f2bc5aefb8169fb1a3e
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000195/ep_meta.json
@@ -0,0 +1,439 @@
+{
+    "layout_id": 4,
+    "style_id": 4,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_3_main_group_3",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw010/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_3_room",
+                    "min_size": [
+                        0.08641,
+                        0.086454,
+                        0.109506
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup024/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.1600157947782348,
+                    1.6
+                ],
+                "offset": [
+                    -0.6449921026108827,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_right_main_group": {
+            "cls": "Counter"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "fridge_cab_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_left_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_left_group": {
+            "cls": "Box"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_left_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_3_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_3_main_group_3"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.4177907418836346,
+        -0.8393859849286744,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000198/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000198/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e63a8e9b0414665ee0bf0b5a08be6457bf8a5a8f
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000198/ep_meta.json
@@ -0,0 +1,469 @@
+{
+    "layout_id": 8,
+    "style_id": 8,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_1_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw011/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_front_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.06996087000000001,
+                        0.06996051,
+                        0.1
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup022/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.1999258801329122,
+                    0.65
+                ],
+                "offset": [
+                    -0.35003705993354384,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "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"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "flower_vase_right_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "counter_1_front_group",
+        "drawer": "stack_1_main_group_2"
+    },
+    "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": [
+        1.028091444332154,
+        -0.7598924361078409,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000200/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000200/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..76399e0c092f6a6222a8ffbb8cf668c8758d52d7
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000200/ep_meta.json
@@ -0,0 +1,451 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "island_cab_left_island_group_4",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw010/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.528,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.09940219,
+                        0.0994084,
+                        0.12121953
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup021/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.683303489825889,
+                    0.8450000000000001
+                ],
+                "offset": [
+                    -0.00014824574345695396,
+                    0.27749999999999986,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "island_island_group",
+        "drawer": "island_cab_left_island_group_4"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.454569019496634,
+        -1.7742428660865484,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        4.712296326794897
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000203/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000203/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9d01ea813ebabacd40188fc74fa0a7d75b777832
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000203/ep_meta.json
@@ -0,0 +1,451 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_4_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw009/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_1_room",
+                    "min_size": [
+                        0.08641,
+                        0.086454,
+                        0.109506
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup024/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.6161035216202366,
+                    1.4
+                ],
+                "offset": [
+                    0.6498517514665196,
+                    2.0816681711721685e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_1_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_4_main_group_2"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.4247378472772247,
+        -0.7770339752725831,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000205/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000205/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..584b7cb92eff005ad5a831fde0e19fcde565adb1
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000205/ep_meta.json
@@ -0,0 +1,469 @@
+{
+    "layout_id": 8,
+    "style_id": 8,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_3_main_group_4",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw010/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.8779999999999999,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_front_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_1_room",
+                    "min_size": [
+                        0.09940219,
+                        0.0994084,
+                        0.12121953
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup021/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.100074126305603,
+                    0.65
+                ],
+                "offset": [
+                    0.3999629368471984,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "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"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "flower_vase_right_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_1_room",
+        "dining_counter": "counter_1_front_group",
+        "drawer": "stack_3_main_group_4"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.1562859001091415,
+        -0.8052446758795558,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000206/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000206/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a53df40c3842fda2ddc1e7dd0d6375288f2be805
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000206/ep_meta.json
@@ -0,0 +1,469 @@
+{
+    "layout_id": 8,
+    "style_id": 8,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_2_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw011/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_front_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.06561669,
+                        0.065618,
+                        0.14712964
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup023/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.1999258801329122,
+                    0.65
+                ],
+                "offset": [
+                    -0.35003705993354384,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "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"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "flower_vase_right_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "counter_1_front_group",
+        "drawer": "stack_2_main_group_2"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.0888556516369072,
+        -0.846456690088713,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000207/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000207/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..948b848794905e5f4dc9c8fb0e6faabf0bcc18f9
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000207/ep_meta.json
@@ -0,0 +1,523 @@
+{
+    "layout_id": 9,
+    "style_id": 9,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_2_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw011/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_front_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_3_room",
+                    "min_size": [
+                        0.08641,
+                        0.086454,
+                        0.109506
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup024/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.2499258827083182,
+                    0.65
+                ],
+                "offset": [
+                    -0.6500370586458408,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_1_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_2_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "salt_shaker_front_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_front_group_auxiliary_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "plant_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_left_group": {
+            "cls": "Accessory"
+        },
+        "stack_left_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_right_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "cab_top_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_right_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "side_bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "side_bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_3": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_3_room",
+        "dining_counter": "counter_1_front_group",
+        "drawer": "stack_2_main_group_2"
+    },
+    "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": [
+        1.9116351770759485,
+        -0.7570259512487492,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000210/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000210/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..32069428ff382870f1b49b017f1640fb84871cef
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000210/ep_meta.json
@@ -0,0 +1,439 @@
+{
+    "layout_id": 4,
+    "style_id": 4,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_3_left_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw011/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_1_room",
+                    "min_size": [
+                        0.06561669,
+                        0.065618,
+                        0.14712964
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup023/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.1399842052393057,
+                    1.6
+                ],
+                "offset": [
+                    0.6550078973803473,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_right_main_group": {
+            "cls": "Counter"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "fridge_cab_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_left_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_left_group": {
+            "cls": "Box"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_left_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_1_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_3_left_group_2"
+    },
+    "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": [
+        0.8101626303257454,
+        -1.3449594761141412,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415963267948968
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000213/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000213/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..93ffc796b4ee5219dff8661f1a8f6c29996c8e08
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000213/ep_meta.json
@@ -0,0 +1,469 @@
+{
+    "layout_id": 8,
+    "style_id": 8,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_2_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw009/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_front_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.08641,
+                        0.086454,
+                        0.109506
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup024/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.1999258801329122,
+                    0.65
+                ],
+                "offset": [
+                    -0.35003705993354384,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "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"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "flower_vase_right_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "counter_1_front_group",
+        "drawer": "stack_2_main_group_2"
+    },
+    "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": [
+        1.96691623951712,
+        -0.7669988568012559,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000216/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000216/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4aca5321dddde619b549d02811b24882f2a520c
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000216/ep_meta.json
@@ -0,0 +1,523 @@
+{
+    "layout_id": 9,
+    "style_id": 9,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_2_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw009/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_front_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.06024275,
+                        0.0602428,
+                        0.114128
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup025/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.549925877128271,
+                    0.65
+                ],
+                "offset": [
+                    -3.7061435864460535e-05,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_1_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_2_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "salt_shaker_front_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_front_group_auxiliary_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "plant_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_left_group": {
+            "cls": "Accessory"
+        },
+        "stack_left_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_right_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "cab_top_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_right_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "side_bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "side_bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_3": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "counter_1_front_group",
+        "drawer": "stack_2_main_group_2"
+    },
+    "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": [
+        1.840796354797884,
+        -0.8182052690418334,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000219/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000219/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..29d2ecbd50c9691a38273a3231ddec14caf3bb93
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000219/ep_meta.json
@@ -0,0 +1,469 @@
+{
+    "layout_id": 8,
+    "style_id": 8,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_2_right_group_4",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw010/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.328,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_front_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_1_room",
+                    "min_size": [
+                        0.08641,
+                        0.086454,
+                        0.109506
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup024/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.100074126305603,
+                    0.65
+                ],
+                "offset": [
+                    0.3999629368471984,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "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"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "flower_vase_right_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_1_room",
+        "dining_counter": "counter_1_front_group",
+        "drawer": "stack_2_right_group_4"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.5533123747809787,
+        -2.502275020597312,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000221/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000221/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..792bdffc885b2cdd68b7060c8976f89af1e301ba
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000221/ep_meta.json
@@ -0,0 +1,523 @@
+{
+    "layout_id": 9,
+    "style_id": 9,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_1_left_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw010/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_front_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_3_room",
+                    "min_size": [
+                        0.06024275,
+                        0.0602428,
+                        0.114128
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup025/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.2499258827083182,
+                    0.65
+                ],
+                "offset": [
+                    -0.6500370586458408,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_1_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_2_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "salt_shaker_front_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_front_group_auxiliary_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "plant_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_left_group": {
+            "cls": "Accessory"
+        },
+        "stack_left_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_right_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "cab_top_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_right_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "side_bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "side_bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_3": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_3_room",
+        "dining_counter": "counter_1_front_group",
+        "drawer": "stack_1_left_group_2"
+    },
+    "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": [
+        0.7952095329825084,
+        -3.438766513078914,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415963267948968
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000224/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000224/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..57dbf428b18c86bc5cfa789a7510a7a6e0b2910a
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000224/ep_meta.json
@@ -0,0 +1,439 @@
+{
+    "layout_id": 4,
+    "style_id": 4,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_1_main_group_4",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw009/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.8779999999999999,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.09940219,
+                        0.0994084,
+                        0.12121953
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup021/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.4399842052305356,
+                    1.6
+                ],
+                "offset": [
+                    0.005007897384732285,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_right_main_group": {
+            "cls": "Counter"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "fridge_cab_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_left_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_left_group": {
+            "cls": "Box"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_left_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_1_main_group_4"
+    },
+    "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": [
+        1.168102515419796,
+        -0.7815316523706389,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000225/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000225/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..76c04142416cd7b1c48b79159c3063cdb93358d5
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000225/ep_meta.json
@@ -0,0 +1,523 @@
+{
+    "layout_id": 9,
+    "style_id": 9,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_2_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw010/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_front_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_3_room",
+                    "min_size": [
+                        0.08641,
+                        0.086454,
+                        0.109506
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup024/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.2499258827083182,
+                    0.65
+                ],
+                "offset": [
+                    -0.6500370586458408,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_1_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_2_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "salt_shaker_front_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_front_group_auxiliary_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "plant_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_left_group": {
+            "cls": "Accessory"
+        },
+        "stack_left_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_right_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "cab_top_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_right_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "side_bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "side_bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_3": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_3_room",
+        "dining_counter": "counter_1_front_group",
+        "drawer": "stack_2_main_group_2"
+    },
+    "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": [
+        1.8980608838388155,
+        -0.8471236805664607,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000226/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000226/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d12fa625e20aa1e277aa6a2c02ef7c2819ab0e0a
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000226/ep_meta.json
@@ -0,0 +1,523 @@
+{
+    "layout_id": 9,
+    "style_id": 9,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_3_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw008/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_front_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_1_room",
+                    "min_size": [
+                        0.08641,
+                        0.086454,
+                        0.109506
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup024/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.2500741284517756,
+                    0.65
+                ],
+                "offset": [
+                    0.6499629357741121,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_1_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_2_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "salt_shaker_front_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_front_group_auxiliary_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "plant_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_left_group": {
+            "cls": "Accessory"
+        },
+        "stack_left_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_right_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "cab_top_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_right_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "side_bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "side_bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_3": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_1_room",
+        "dining_counter": "counter_1_front_group",
+        "drawer": "stack_3_main_group_2"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.9522124087505017,
+        -0.789393746845843,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000227/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000227/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1fafc0d6d07965857741f1df2f2350cf37f9ec74
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000227/ep_meta.json
@@ -0,0 +1,439 @@
+{
+    "layout_id": 4,
+    "style_id": 4,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_1_main_group_4",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw010/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.8779999999999999,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.06024275,
+                        0.0602428,
+                        0.114128
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup025/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.4399842052305356,
+                    1.6
+                ],
+                "offset": [
+                    0.005007897384732285,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_right_main_group": {
+            "cls": "Counter"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "fridge_cab_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_left_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_left_group": {
+            "cls": "Box"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_left_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_1_main_group_4"
+    },
+    "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": [
+        1.2310196884524636,
+        -0.7955828152297657,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000229/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000229/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b21751a83b815a25a2eaa1def0cfad5543219d24
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000229/ep_meta.json
@@ -0,0 +1,598 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_6_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw008/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.08641,
+                        0.086454,
+                        0.109506
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup024/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.8020727043346244,
+                    0.9350000000000002
+                ],
+                "offset": [
+                    -6.48575127626394e-05,
+                    0.3075,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "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": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_6_main_group_2"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        5.509641516630412,
+        -0.8331425593645041,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000230/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000230/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5776d5f462a7975d6cf56d74f0baf482819b8310
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000230/ep_meta.json
@@ -0,0 +1,469 @@
+{
+    "layout_id": 8,
+    "style_id": 8,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_2_main_group_3",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw008/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_front_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_1_room",
+                    "min_size": [
+                        0.08641,
+                        0.086454,
+                        0.109506
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup024/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.100074126305603,
+                    0.65
+                ],
+                "offset": [
+                    0.3999629368471984,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "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"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "flower_vase_right_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_1_room",
+        "dining_counter": "counter_1_front_group",
+        "drawer": "stack_2_main_group_3"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.4791266238888867,
+        -0.8414652410634726,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000231/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000231/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6eeab5c75de98aee9e0c8876e722cc8852b43a86
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000231/ep_meta.json
@@ -0,0 +1,439 @@
+{
+    "layout_id": 4,
+    "style_id": 4,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_3_main_group_3",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw012/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.06024275,
+                        0.0602428,
+                        0.114128
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup025/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.4399842052305356,
+                    1.6
+                ],
+                "offset": [
+                    0.005007897384732285,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_right_main_group": {
+            "cls": "Counter"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "fridge_cab_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_left_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_left_group": {
+            "cls": "Box"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_left_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_3_main_group_3"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.417543412738671,
+        -0.7941088433627758,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000232/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000232/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2872e8f22746c10d2d7bf9a213ea368e49d6a171
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000232/ep_meta.json
@@ -0,0 +1,439 @@
+{
+    "layout_id": 4,
+    "style_id": 4,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_3_left_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw008/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_3_room",
+                    "min_size": [
+                        0.06024275,
+                        0.0602428,
+                        0.114128
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup025/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.1600157947782348,
+                    1.6
+                ],
+                "offset": [
+                    -0.6449921026108827,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_right_main_group": {
+            "cls": "Counter"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "fridge_cab_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_left_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_left_group": {
+            "cls": "Box"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_left_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_3_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_3_left_group_2"
+    },
+    "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": [
+        0.8171357749679813,
+        -1.3042906050309395,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415963267948968
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000233/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000233/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9024a57e71c3b50f7add99bfe24243164f69fcd2
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000233/ep_meta.json
@@ -0,0 +1,439 @@
+{
+    "layout_id": 4,
+    "style_id": 4,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_3_left_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw010/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.06024275,
+                        0.0602428,
+                        0.114128
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup025/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.4399842052305356,
+                    1.6
+                ],
+                "offset": [
+                    0.005007897384732285,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_right_main_group": {
+            "cls": "Counter"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "fridge_cab_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_left_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_left_group": {
+            "cls": "Box"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_left_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_3_left_group_2"
+    },
+    "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": [
+        0.8365765056604877,
+        -1.3682698292154762,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415963267948968
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000234/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000234/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..abaebc6601fe0be3664dcd23d143537b466a89e5
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000234/ep_meta.json
@@ -0,0 +1,598 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_5_main_group_3",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw012/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.08641,
+                        0.086454,
+                        0.109506
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup024/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.8020727043346244,
+                    0.9350000000000002
+                ],
+                "offset": [
+                    -6.48575127626394e-05,
+                    0.3075,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "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": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_5_main_group_3"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.952051902572806,
+        -0.847455048883297,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000236/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000236/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..61d957096d6d9544cc3d725d9196294dd349932a
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000236/ep_meta.json
@@ -0,0 +1,529 @@
+{
+    "layout_id": 10,
+    "style_id": 10,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_2_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw010/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_dining_area_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_3_room",
+                    "min_size": [
+                        0.09940219,
+                        0.0994084,
+                        0.12121953
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup021/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.0497961741213082,
+                    1.0
+                ],
+                "offset": [
+                    -0.6001019129393459,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_room": {
+            "cls": "Wall"
+        },
+        "wall_front_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_2_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_front_room": {
+            "cls": "Floor"
+        },
+        "floor_front_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "right_corner_box_main_group": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_4": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_left_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "box_left_top_left_group": {
+            "cls": "Box"
+        },
+        "box_left_bottom_left_group": {
+            "cls": "Box"
+        },
+        "box_right_top_left_group": {
+            "cls": "Box"
+        },
+        "box_right_bottom_left_group": {
+            "cls": "Box"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_2": {
+            "cls": "Drawer"
+        },
+        "shelves_front_group": {
+            "cls": "OpenCabinet"
+        },
+        "bottom_front_group_base": {
+            "cls": "Box"
+        },
+        "bottom_front_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_front_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_middle_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_front_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_front_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "utensil_set_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_dining_area_group": {
+            "cls": "Counter"
+        },
+        "paper_towel_dining_area_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_dining_area_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_3_room",
+        "dining_counter": "counter_1_dining_area_group",
+        "drawer": "stack_2_main_group_2"
+    },
+    "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": [
+        1.8807630553465646,
+        -0.7813769006931208,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000237/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000237/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cc5c9be7acadac1ba40c58d412a91c88d1672a4e
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000237/ep_meta.json
@@ -0,0 +1,439 @@
+{
+    "layout_id": 4,
+    "style_id": 4,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_1_main_group_4",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw011/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.8779999999999999,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_3_room",
+                    "min_size": [
+                        0.09940219,
+                        0.0994084,
+                        0.12121953
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup021/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.1600157947782348,
+                    1.6
+                ],
+                "offset": [
+                    -0.6449921026108827,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_right_main_group": {
+            "cls": "Counter"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "fridge_cab_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_left_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_left_group": {
+            "cls": "Box"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_left_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_3_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_1_main_group_4"
+    },
+    "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": [
+        1.2641046168267551,
+        -0.7820865646156642,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000239/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000239/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7de8567ec64f83c49eb5fdab3128eef5a518e51
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000239/ep_meta.json
@@ -0,0 +1,439 @@
+{
+    "layout_id": 4,
+    "style_id": 4,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_3_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw012/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.08641,
+                        0.086454,
+                        0.109506
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup024/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.4399842052305356,
+                    1.6
+                ],
+                "offset": [
+                    0.005007897384732285,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_right_main_group": {
+            "cls": "Counter"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "fridge_cab_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_left_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_left_group": {
+            "cls": "Box"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_left_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_3_main_group_2"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.932360286702981,
+        -0.7851005842665405,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000242/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000242/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8b829cbd659bf84df8ee585dec5a3ec88805c672
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000242/ep_meta.json
@@ -0,0 +1,439 @@
+{
+    "layout_id": 4,
+    "style_id": 4,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_3_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw010/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_3_room",
+                    "min_size": [
+                        0.06024275,
+                        0.0602428,
+                        0.114128
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup025/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.1600157947782348,
+                    1.6
+                ],
+                "offset": [
+                    -0.6449921026108827,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_right_main_group": {
+            "cls": "Counter"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "fridge_cab_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_left_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_left_group": {
+            "cls": "Box"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_left_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_3_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_3_main_group_2"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.929528703753452,
+        -0.7820099709593793,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000243/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000243/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3160dfc3e1a33f4b9d93eb271501fb764cbb325c
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000243/ep_meta.json
@@ -0,0 +1,439 @@
+{
+    "layout_id": 4,
+    "style_id": 4,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_3_left_group_3",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw009/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_1_room",
+                    "min_size": [
+                        0.06024275,
+                        0.0602428,
+                        0.114128
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup025/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.1399842052393057,
+                    1.6
+                ],
+                "offset": [
+                    0.6550078973803473,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_right_main_group": {
+            "cls": "Counter"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "fridge_cab_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_left_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_left_group": {
+            "cls": "Box"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_left_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_1_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_3_left_group_3"
+    },
+    "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": [
+        0.7667453839714167,
+        -0.8831854112893242,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415963267948968
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000244/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000244/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..61b0f5213533c32fb03097daedb1dec62646856e
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000244/ep_meta.json
@@ -0,0 +1,439 @@
+{
+    "layout_id": 4,
+    "style_id": 4,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_1_main_group_4",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw008/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.8779999999999999,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_3_room",
+                    "min_size": [
+                        0.06996087000000001,
+                        0.06996051,
+                        0.1
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup022/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.1600157947782348,
+                    1.6
+                ],
+                "offset": [
+                    -0.6449921026108827,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_right_main_group": {
+            "cls": "Counter"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "fridge_cab_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_left_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_left_group": {
+            "cls": "Box"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_left_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_3_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_1_main_group_4"
+    },
+    "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": [
+        1.1595597687196961,
+        -0.8174181251353508,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000246/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000246/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9811065bf55778ec9356e31e6390f772309902b
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000246/ep_meta.json
@@ -0,0 +1,529 @@
+{
+    "layout_id": 10,
+    "style_id": 10,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_1_main_group_3",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw009/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_dining_area_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_3_room",
+                    "min_size": [
+                        0.06561669,
+                        0.065618,
+                        0.14712964
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup023/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.0497961741213082,
+                    1.0
+                ],
+                "offset": [
+                    -0.6001019129393459,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_room": {
+            "cls": "Wall"
+        },
+        "wall_front_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_2_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_front_room": {
+            "cls": "Floor"
+        },
+        "floor_front_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "right_corner_box_main_group": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_4": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_left_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "box_left_top_left_group": {
+            "cls": "Box"
+        },
+        "box_left_bottom_left_group": {
+            "cls": "Box"
+        },
+        "box_right_top_left_group": {
+            "cls": "Box"
+        },
+        "box_right_bottom_left_group": {
+            "cls": "Box"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_2": {
+            "cls": "Drawer"
+        },
+        "shelves_front_group": {
+            "cls": "OpenCabinet"
+        },
+        "bottom_front_group_base": {
+            "cls": "Box"
+        },
+        "bottom_front_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_front_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_middle_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_front_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_front_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "utensil_set_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_dining_area_group": {
+            "cls": "Counter"
+        },
+        "paper_towel_dining_area_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_dining_area_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_3_room",
+        "dining_counter": "counter_1_dining_area_group",
+        "drawer": "stack_1_main_group_3"
+    },
+    "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": [
+        1.3073223224504837,
+        -0.7850136917605628,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000250/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000250/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6111ef66185effa8270448786bac226991b1b09b
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000250/ep_meta.json
@@ -0,0 +1,529 @@
+{
+    "layout_id": 10,
+    "style_id": 10,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_4_main_group_4",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw011/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.6779999999999999,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_dining_area_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.06024275,
+                        0.0602428,
+                        0.114128
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup025/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.249796168970498,
+                    1.0
+                ],
+                "offset": [
+                    -0.00010191551475102756,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_room": {
+            "cls": "Wall"
+        },
+        "wall_front_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_2_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_front_room": {
+            "cls": "Floor"
+        },
+        "floor_front_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "right_corner_box_main_group": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_4": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_left_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "box_left_top_left_group": {
+            "cls": "Box"
+        },
+        "box_left_bottom_left_group": {
+            "cls": "Box"
+        },
+        "box_right_top_left_group": {
+            "cls": "Box"
+        },
+        "box_right_bottom_left_group": {
+            "cls": "Box"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_2": {
+            "cls": "Drawer"
+        },
+        "shelves_front_group": {
+            "cls": "OpenCabinet"
+        },
+        "bottom_front_group_base": {
+            "cls": "Box"
+        },
+        "bottom_front_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_front_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_middle_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_front_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_front_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "utensil_set_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_dining_area_group": {
+            "cls": "Counter"
+        },
+        "paper_towel_dining_area_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_dining_area_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "counter_1_dining_area_group",
+        "drawer": "stack_4_main_group_4"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.9341331734657965,
+        -0.8006106334610122,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000253/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000253/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3c80c3964fc9c6a6f30ae472528fa9f009f64eca
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000253/ep_meta.json
@@ -0,0 +1,469 @@
+{
+    "layout_id": 8,
+    "style_id": 8,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_2_left_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw011/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_front_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.09940219,
+                        0.0994084,
+                        0.12121953
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup021/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.1999258801329122,
+                    0.65
+                ],
+                "offset": [
+                    -0.35003705993354384,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "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"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "flower_vase_right_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "counter_1_front_group",
+        "drawer": "stack_2_left_group_2"
+    },
+    "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": [
+        0.8496848810209942,
+        -1.0161619188763114,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415963267948968
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000257/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000257/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..972b50e93b4aebecf04c7bf5b6fc3d348f913de8
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000257/ep_meta.json
@@ -0,0 +1,469 @@
+{
+    "layout_id": 8,
+    "style_id": 8,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_2_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw011/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_front_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.08641,
+                        0.086454,
+                        0.109506
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup024/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.1999258801329122,
+                    0.65
+                ],
+                "offset": [
+                    -0.35003705993354384,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "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"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "flower_vase_right_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "counter_1_front_group",
+        "drawer": "stack_2_main_group_2"
+    },
+    "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": [
+        1.9337307321586725,
+        -0.795515150132409,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000262/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000262/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b6d5a92f1cfde9d2d80fd6117af8350c7c0793c
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000262/ep_meta.json
@@ -0,0 +1,451 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_4_main_group_3",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw012/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.08641,
+                        0.086454,
+                        0.109506
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup024/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.683303489825889,
+                    0.8450000000000001
+                ],
+                "offset": [
+                    -0.00014824574345695396,
+                    0.27749999999999986,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_4_main_group_3"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.9826855665233145,
+        -0.7594093839578779,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000263/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000263/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce6fd43dc8e6f3a891e53802db44a1a3d7908893
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000263/ep_meta.json
@@ -0,0 +1,523 @@
+{
+    "layout_id": 9,
+    "style_id": 9,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_1_left_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw008/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_front_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_1_room",
+                    "min_size": [
+                        0.09940219,
+                        0.0994084,
+                        0.12121953
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup021/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.2500741284517756,
+                    0.65
+                ],
+                "offset": [
+                    0.6499629357741121,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_1_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_2_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "salt_shaker_front_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_front_group_auxiliary_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "plant_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_left_group": {
+            "cls": "Accessory"
+        },
+        "stack_left_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_right_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "cab_top_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_right_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "side_bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "side_bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_3": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_1_room",
+        "dining_counter": "counter_1_front_group",
+        "drawer": "stack_1_left_group_2"
+    },
+    "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": [
+        0.7623873165151348,
+        -3.4322952859769833,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415963267948968
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000264/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000264/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a9449907543d087bf57a0b02af9a8bbb92b52d58
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000264/ep_meta.json
@@ -0,0 +1,451 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_4_main_group_3",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw009/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.06996087000000001,
+                        0.06996051,
+                        0.1
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup022/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.683303489825889,
+                    0.8450000000000001
+                ],
+                "offset": [
+                    -0.00014824574345695396,
+                    0.27749999999999986,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_4_main_group_3"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.0515922207601682,
+        -0.8056321542424897,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000265/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000265/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..40b612166b53ece69b2df784623d99962fdc2724
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000265/ep_meta.json
@@ -0,0 +1,523 @@
+{
+    "layout_id": 9,
+    "style_id": 9,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_3_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw011/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_front_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_1_room",
+                    "min_size": [
+                        0.06561669,
+                        0.065618,
+                        0.14712964
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup023/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.2500741284517756,
+                    0.65
+                ],
+                "offset": [
+                    0.6499629357741121,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_1_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_2_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "salt_shaker_front_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_front_group_auxiliary_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "plant_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_left_group": {
+            "cls": "Accessory"
+        },
+        "stack_left_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_right_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "cab_top_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_right_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "side_bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "side_bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_3": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_1_room",
+        "dining_counter": "counter_1_front_group",
+        "drawer": "stack_3_main_group_2"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.823110039556476,
+        -0.8226389553811844,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000266/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000266/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..84503497764210267f0e6e43606723fea6d2ebcd
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000266/ep_meta.json
@@ -0,0 +1,598 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_1_left_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw011/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_3_room",
+                    "min_size": [
+                        0.06996087000000001,
+                        0.06996051,
+                        0.1
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup022/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.4979272900853289,
+                    1.55
+                ],
+                "offset": [
+                    -0.6500648547227392,
+                    2.0816681711721685e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "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": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_3_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_1_left_group_2"
+    },
+    "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": [
+        0.8297865994520801,
+        -2.315224127303226,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415963267948968
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000267/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000267/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8d2cf4136a8b27719e4ed0c42c1c1bdd6d871478
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000267/ep_meta.json
@@ -0,0 +1,439 @@
+{
+    "layout_id": 4,
+    "style_id": 4,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_1_main_group_4",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw010/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.8779999999999999,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_1_room",
+                    "min_size": [
+                        0.06996087000000001,
+                        0.06996051,
+                        0.1
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup022/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.1399842052393057,
+                    1.6
+                ],
+                "offset": [
+                    0.6550078973803473,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_right_main_group": {
+            "cls": "Counter"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "fridge_cab_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_left_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_left_group": {
+            "cls": "Box"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_left_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_1_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_1_main_group_4"
+    },
+    "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": [
+        1.0821108304493359,
+        -0.8411450372096904,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000268/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000268/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..de864f28d5d3ff93e045c446cff7bd3f311d009c
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000268/ep_meta.json
@@ -0,0 +1,529 @@
+{
+    "layout_id": 10,
+    "style_id": 10,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_1_main_group_3",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw009/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_dining_area_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.06024275,
+                        0.0602428,
+                        0.114128
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup025/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.249796168970498,
+                    1.0
+                ],
+                "offset": [
+                    -0.00010191551475102756,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_room": {
+            "cls": "Wall"
+        },
+        "wall_front_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_2_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_front_room": {
+            "cls": "Floor"
+        },
+        "floor_front_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "right_corner_box_main_group": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_4": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_left_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "box_left_top_left_group": {
+            "cls": "Box"
+        },
+        "box_left_bottom_left_group": {
+            "cls": "Box"
+        },
+        "box_right_top_left_group": {
+            "cls": "Box"
+        },
+        "box_right_bottom_left_group": {
+            "cls": "Box"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_2": {
+            "cls": "Drawer"
+        },
+        "shelves_front_group": {
+            "cls": "OpenCabinet"
+        },
+        "bottom_front_group_base": {
+            "cls": "Box"
+        },
+        "bottom_front_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_front_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_middle_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_front_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_front_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "utensil_set_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_dining_area_group": {
+            "cls": "Counter"
+        },
+        "paper_towel_dining_area_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_dining_area_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "counter_1_dining_area_group",
+        "drawer": "stack_1_main_group_3"
+    },
+    "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": [
+        1.3828937437256472,
+        -0.7806107840439418,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000269/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000269/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b68cb5d3dd367084d3f944acc44fbf8b3dcc6cdb
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000269/ep_meta.json
@@ -0,0 +1,451 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_5_main_group_3",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw010/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_3_room",
+                    "min_size": [
+                        0.06561669,
+                        0.065618,
+                        0.14712964
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup023/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.6166965045940636,
+                    1.4
+                ],
+                "offset": [
+                    -0.6501482429534331,
+                    2.0816681711721685e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_3_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_5_main_group_3"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.047769936619745,
+        -0.7911272139724829,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000270/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000270/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..26250ab627a2a80664492ffd7c9496c9b6c4d0a8
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000270/ep_meta.json
@@ -0,0 +1,451 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_6_main_group_4",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw012/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.6779999999999999,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.06561669,
+                        0.065618,
+                        0.14712964
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup023/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.683303489825889,
+                    0.8450000000000001
+                ],
+                "offset": [
+                    -0.00014824574345695396,
+                    0.27749999999999986,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_6_main_group_4"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.667391221994045,
+        -0.8328787586998629,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000273/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000273/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d91dbcb4caf49bb960a5296b84febd58f0356ee
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000273/ep_meta.json
@@ -0,0 +1,439 @@
+{
+    "layout_id": 4,
+    "style_id": 4,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_3_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw010/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.06561669,
+                        0.065618,
+                        0.14712964
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup023/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.4399842052305356,
+                    1.6
+                ],
+                "offset": [
+                    0.005007897384732285,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_right_main_group": {
+            "cls": "Counter"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "fridge_cab_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_left_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_left_group": {
+            "cls": "Box"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_left_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_3_main_group_2"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.824648988959655,
+        -0.8159177205427982,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000275/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000275/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e09d32e34f0712ef703b915a0c805a5e63a4c0c2
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000275/ep_meta.json
@@ -0,0 +1,598 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_2_right_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw009/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_3_room",
+                    "min_size": [
+                        0.06024275,
+                        0.0602428,
+                        0.114128
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup025/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.4979272900853289,
+                    1.55
+                ],
+                "offset": [
+                    -0.6500648547227392,
+                    2.0816681711721685e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "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": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_3_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_2_right_group_2"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        5.591957603265566,
+        -1.9940262607131152,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000278/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000278/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..91a519493cc5d277bfbe73d77ef64b3da2d79ad8
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000278/ep_meta.json
@@ -0,0 +1,523 @@
+{
+    "layout_id": 9,
+    "style_id": 9,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_2_main_group_3",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw010/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_front_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_3_room",
+                    "min_size": [
+                        0.06561669,
+                        0.065618,
+                        0.14712964
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup023/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.2499258827083182,
+                    0.65
+                ],
+                "offset": [
+                    -0.6500370586458408,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_1_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_2_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "salt_shaker_front_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_front_group_auxiliary_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "plant_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_left_group": {
+            "cls": "Accessory"
+        },
+        "stack_left_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_right_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "cab_top_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_right_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "side_bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "side_bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_3": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_3_room",
+        "dining_counter": "counter_1_front_group",
+        "drawer": "stack_2_main_group_3"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.4929144578272555,
+        -0.7626660322341308,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000279/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000279/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ba85175d96d1de647453b16b54129c5afbd3d73
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000279/ep_meta.json
@@ -0,0 +1,439 @@
+{
+    "layout_id": 4,
+    "style_id": 4,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_3_left_group_3",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw010/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_1_room",
+                    "min_size": [
+                        0.06024275,
+                        0.0602428,
+                        0.114128
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup025/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.1399842052393057,
+                    1.6
+                ],
+                "offset": [
+                    0.6550078973803473,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_right_main_group": {
+            "cls": "Counter"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "fridge_cab_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_left_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_left_group": {
+            "cls": "Box"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_left_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_1_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_3_left_group_3"
+    },
+    "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": [
+        0.8320150431896266,
+        -1.0846959431560315,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415963267948968
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000280/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000280/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9cdcca1f480d61181c3811c896da212faf9db4c
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000280/ep_meta.json
@@ -0,0 +1,598 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_3_main_group_4",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw012/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_3_room",
+                    "min_size": [
+                        0.06996087000000001,
+                        0.06996051,
+                        0.1
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup022/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.4979272900853289,
+                    1.55
+                ],
+                "offset": [
+                    -0.6500648547227392,
+                    2.0816681711721685e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "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": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_3_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_3_main_group_4"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.924707956482697,
+        -0.8397888445659153,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000281/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000281/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..41db41318062a9cd616c931c64ee8fa238d29467
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000281/ep_meta.json
@@ -0,0 +1,469 @@
+{
+    "layout_id": 8,
+    "style_id": 8,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_1_left_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw008/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_front_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.06996087000000001,
+                        0.06996051,
+                        0.1
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup022/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.1999258801329122,
+                    0.65
+                ],
+                "offset": [
+                    -0.35003705993354384,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "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"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "flower_vase_right_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "counter_1_front_group",
+        "drawer": "stack_1_left_group_2"
+    },
+    "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": [
+        0.8360805233259513,
+        -2.1567808867020664,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415963267948968
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000282/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000282/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0ed5d817f4773f6917bb0e789a8dff074da2ff1
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000282/ep_meta.json
@@ -0,0 +1,523 @@
+{
+    "layout_id": 9,
+    "style_id": 9,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_5_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw009/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_front_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_1_room",
+                    "min_size": [
+                        0.06024275,
+                        0.0602428,
+                        0.114128
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup025/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.2500741284517756,
+                    0.65
+                ],
+                "offset": [
+                    0.6499629357741121,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_1_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_2_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "salt_shaker_front_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_front_group_auxiliary_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "plant_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_left_group": {
+            "cls": "Accessory"
+        },
+        "stack_left_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_right_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "cab_top_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_right_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "side_bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "side_bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_3": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_1_room",
+        "dining_counter": "counter_1_front_group",
+        "drawer": "stack_5_main_group_2"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.8876577604767775,
+        -0.7985566705303562,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000284/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000284/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cdd5df875844b906e1896cb45c9d06e016b95619
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000284/ep_meta.json
@@ -0,0 +1,598 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_2_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw009/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_3_room",
+                    "min_size": [
+                        0.08641,
+                        0.086454,
+                        0.109506
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup024/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.4979272900853289,
+                    1.55
+                ],
+                "offset": [
+                    -0.6500648547227392,
+                    2.0816681711721685e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "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": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_3_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_2_main_group_2"
+    },
+    "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": [
+        1.9912366942532818,
+        -0.7662033870062751,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000285/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000285/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9344969de1b26143563fddda7886c18751f276a
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000285/ep_meta.json
@@ -0,0 +1,451 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_5_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw010/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_1_room",
+                    "min_size": [
+                        0.06996087000000001,
+                        0.06996051,
+                        0.1
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup022/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.6161035216202366,
+                    1.4
+                ],
+                "offset": [
+                    0.6498517514665196,
+                    2.0816681711721685e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_1_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_5_main_group_2"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.506281917103636,
+        -0.7552151406343502,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000286/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000286/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4f23e60b646f593a26b34216bce82bdd7aa2a506
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000286/ep_meta.json
@@ -0,0 +1,451 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_3_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw012/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_3_room",
+                    "min_size": [
+                        0.06024275,
+                        0.0602428,
+                        0.114128
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup025/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.6166965045940636,
+                    1.4
+                ],
+                "offset": [
+                    -0.6501482429534331,
+                    2.0816681711721685e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_3_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_3_main_group_2"
+    },
+    "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": [
+        1.6154043815949437,
+        -0.8009858991928687,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000288/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000288/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..309cd9f4e498df8e6e27b1acb12dcdc7535e4b25
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000288/ep_meta.json
@@ -0,0 +1,451 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_5_main_group_3",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw009/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.06996087000000001,
+                        0.06996051,
+                        0.1
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup022/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.683303489825889,
+                    0.8450000000000001
+                ],
+                "offset": [
+                    -0.00014824574345695396,
+                    0.27749999999999986,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_5_main_group_3"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.131893167818192,
+        -0.8283891793562913,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000294/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000294/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..20329c23d787e4656bbb53c2fffe202c880a4a2f
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000294/ep_meta.json
@@ -0,0 +1,439 @@
+{
+    "layout_id": 4,
+    "style_id": 4,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_3_left_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw009/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_1_room",
+                    "min_size": [
+                        0.09940219,
+                        0.0994084,
+                        0.12121953
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup021/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.1399842052393057,
+                    1.6
+                ],
+                "offset": [
+                    0.6550078973803473,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_right_main_group": {
+            "cls": "Counter"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "fridge_cab_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_left_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_left_group": {
+            "cls": "Box"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_left_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_1_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_3_left_group_2"
+    },
+    "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": [
+        0.8204964205075583,
+        -1.4297987977413613,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415963267948968
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000297/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000297/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ce6863b84a146cc2f91d82bb55777022e7c566b0
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000297/ep_meta.json
@@ -0,0 +1,523 @@
+{
+    "layout_id": 9,
+    "style_id": 9,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_3_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw009/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_front_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.06561669,
+                        0.065618,
+                        0.14712964
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup023/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.549925877128271,
+                    0.65
+                ],
+                "offset": [
+                    -3.7061435864460535e-05,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_1_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_2_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "salt_shaker_front_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_front_group_auxiliary_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "plant_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_left_group": {
+            "cls": "Accessory"
+        },
+        "stack_left_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_right_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "cab_top_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_right_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "side_bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "side_bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_3": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "counter_1_front_group",
+        "drawer": "stack_3_main_group_2"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.0934931015403015,
+        -0.805091041962985,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000299/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000299/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..472eda14eb1d48f574b08eb59dccdf0a9f9016e3
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000299/ep_meta.json
@@ -0,0 +1,451 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_3_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw012/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.06024275,
+                        0.0602428,
+                        0.114128
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup025/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.683303489825889,
+                    0.8450000000000001
+                ],
+                "offset": [
+                    -0.00014824574345695396,
+                    0.27749999999999986,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_3_main_group_2"
+    },
+    "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": [
+        1.619068022588457,
+        -0.8007305418787295,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000303/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000303/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a7dd571429ebbdc8102b00ae72d8efae689f3b11
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000303/ep_meta.json
@@ -0,0 +1,469 @@
+{
+    "layout_id": 8,
+    "style_id": 8,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_1_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw010/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_front_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.06561669,
+                        0.065618,
+                        0.14712964
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup023/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.1999258801329122,
+                    0.65
+                ],
+                "offset": [
+                    -0.35003705993354384,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "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"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "flower_vase_right_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "counter_1_front_group",
+        "drawer": "stack_1_main_group_2"
+    },
+    "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": [
+        0.9961707692541866,
+        -0.7817363490067095,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000304/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000304/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc766d92d6d5cc70013dc5010366fac1d3581a9f
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000304/ep_meta.json
@@ -0,0 +1,451 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_3_main_group_3",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw009/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_1_room",
+                    "min_size": [
+                        0.06024275,
+                        0.0602428,
+                        0.114128
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup025/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.6161035216202366,
+                    1.4
+                ],
+                "offset": [
+                    0.6498517514665196,
+                    2.0816681711721685e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_1_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_3_main_group_3"
+    },
+    "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": [
+        1.8612632753627691,
+        -0.8254941877570269,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000305/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000305/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..96db8ab25990079ba0261f3a9e023b2d34031aff
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000305/ep_meta.json
@@ -0,0 +1,469 @@
+{
+    "layout_id": 8,
+    "style_id": 8,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_2_left_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw009/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_front_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_1_room",
+                    "min_size": [
+                        0.06996087000000001,
+                        0.06996051,
+                        0.1
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup022/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.100074126305603,
+                    0.65
+                ],
+                "offset": [
+                    0.3999629368471984,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "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"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "flower_vase_right_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_1_room",
+        "dining_counter": "counter_1_front_group",
+        "drawer": "stack_2_left_group_2"
+    },
+    "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": [
+        0.7671547018020906,
+        -0.9320310087324843,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415963267948968
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000307/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000307/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2e02bc256e360abe8421a5ee2f6c2a8e94dd5faf
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000307/ep_meta.json
@@ -0,0 +1,598 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_1_right_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw008/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.06561669,
+                        0.065618,
+                        0.14712964
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup023/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.8020727043346244,
+                    0.9350000000000002
+                ],
+                "offset": [
+                    -6.48575127626394e-05,
+                    0.3075,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "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": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_1_right_group_2"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        5.596694574327461,
+        -0.9453247223965469,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000308/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000308/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8438fc7262fbcefaa4eb6909a03b4f675d34b37
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000308/ep_meta.json
@@ -0,0 +1,469 @@
+{
+    "layout_id": 8,
+    "style_id": 8,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_2_right_group_4",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw011/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.328,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_front_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.09940219,
+                        0.0994084,
+                        0.12121953
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup021/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.1999258801329122,
+                    0.65
+                ],
+                "offset": [
+                    -0.35003705993354384,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "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"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "flower_vase_right_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "counter_1_front_group",
+        "drawer": "stack_2_right_group_4"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.5790174978316625,
+        -2.4316783276005696,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000309/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000309/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b512b56b732c13acc1da58831cb2547c343c40b1
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000309/ep_meta.json
@@ -0,0 +1,598 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_3_left_group_4",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw010/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_1_room",
+                    "min_size": [
+                        0.06996087000000001,
+                        0.06996051,
+                        0.1
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup022/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.4976678600342783,
+                    1.55
+                ],
+                "offset": [
+                    0.649935139697214,
+                    2.0816681711721685e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "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": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_1_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_3_left_group_4"
+    },
+    "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": [
+        0.795475084605063,
+        -0.9930110920420345,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415963267948968
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000310/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000310/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..51424d0aa592096c5b97899e394ea411dd446238
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000310/ep_meta.json
@@ -0,0 +1,439 @@
+{
+    "layout_id": 4,
+    "style_id": 4,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_3_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw010/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_1_room",
+                    "min_size": [
+                        0.09940219,
+                        0.0994084,
+                        0.12121953
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup021/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.1399842052393057,
+                    1.6
+                ],
+                "offset": [
+                    0.6550078973803473,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_right_main_group": {
+            "cls": "Counter"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "fridge_cab_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_left_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_left_group": {
+            "cls": "Box"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_left_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_1_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_3_main_group_2"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.9259308485294895,
+        -0.7637689097557662,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000313/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000313/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8e7ce7216a8dc3fe2ba71af4bf8d8bbb41d74844
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000313/ep_meta.json
@@ -0,0 +1,451 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_5_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw010/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_3_room",
+                    "min_size": [
+                        0.08641,
+                        0.086454,
+                        0.109506
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup024/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.6166965045940636,
+                    1.4
+                ],
+                "offset": [
+                    -0.6501482429534331,
+                    2.0816681711721685e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_3_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_5_main_group_2"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.6466080929778526,
+        -0.7633992171178465,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000315/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000315/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..55083c6b35bd09027c4c5f89afd25366773ab4f3
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000315/ep_meta.json
@@ -0,0 +1,451 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_4_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw008/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.06024275,
+                        0.0602428,
+                        0.114128
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup025/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.683303489825889,
+                    0.8450000000000001
+                ],
+                "offset": [
+                    -0.00014824574345695396,
+                    0.27749999999999986,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_4_main_group_2"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.5286396729909946,
+        -0.7995328846405009,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000316/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000316/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0c2888ba0d9c44cd01ccbfc758cc21f1359c0d2
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000316/ep_meta.json
@@ -0,0 +1,469 @@
+{
+    "layout_id": 8,
+    "style_id": 8,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_1_left_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw008/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_front_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.09940219,
+                        0.0994084,
+                        0.12121953
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup021/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.1999258801329122,
+                    0.65
+                ],
+                "offset": [
+                    -0.35003705993354384,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "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"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "flower_vase_right_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "counter_1_front_group",
+        "drawer": "stack_1_left_group_2"
+    },
+    "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": [
+        0.8275009237967829,
+        -2.261493855607392,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415963267948968
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000319/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000319/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bb18ae8e24e66324630d55a049ff0e2611f1ea4e
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000319/ep_meta.json
@@ -0,0 +1,529 @@
+{
+    "layout_id": 10,
+    "style_id": 10,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_1_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw011/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_dining_area_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_1_room",
+                    "min_size": [
+                        0.06561669,
+                        0.065618,
+                        0.14712964
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup023/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.0502038361803159,
+                    1.0
+                ],
+                "offset": [
+                    0.5998980819098421,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_room": {
+            "cls": "Wall"
+        },
+        "wall_front_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_2_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_front_room": {
+            "cls": "Floor"
+        },
+        "floor_front_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "right_corner_box_main_group": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_4": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_left_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "box_left_top_left_group": {
+            "cls": "Box"
+        },
+        "box_left_bottom_left_group": {
+            "cls": "Box"
+        },
+        "box_right_top_left_group": {
+            "cls": "Box"
+        },
+        "box_right_bottom_left_group": {
+            "cls": "Box"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_2": {
+            "cls": "Drawer"
+        },
+        "shelves_front_group": {
+            "cls": "OpenCabinet"
+        },
+        "bottom_front_group_base": {
+            "cls": "Box"
+        },
+        "bottom_front_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_front_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_middle_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_front_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_front_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "utensil_set_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_dining_area_group": {
+            "cls": "Counter"
+        },
+        "paper_towel_dining_area_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_dining_area_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_1_room",
+        "dining_counter": "counter_1_dining_area_group",
+        "drawer": "stack_1_main_group_2"
+    },
+    "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": [
+        0.8328498223755874,
+        -0.8075383907167999,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000321/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000321/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dbf473efe2fdd8a4db29e9461dfbcc326f058fc2
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000321/ep_meta.json
@@ -0,0 +1,523 @@
+{
+    "layout_id": 9,
+    "style_id": 9,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_2_main_group_3",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw011/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_front_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_3_room",
+                    "min_size": [
+                        0.08641,
+                        0.086454,
+                        0.109506
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup024/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.2499258827083182,
+                    0.65
+                ],
+                "offset": [
+                    -0.6500370586458408,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_1_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_2_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "salt_shaker_front_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_front_group_auxiliary_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "plant_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_left_group": {
+            "cls": "Accessory"
+        },
+        "stack_left_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_right_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "cab_top_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_right_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "side_bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "side_bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_3": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_3_room",
+        "dining_counter": "counter_1_front_group",
+        "drawer": "stack_2_main_group_3"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.3979494310730205,
+        -0.821613701232526,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000326/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000326/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..64475f23511703c8e3ca1514e792d9a5d917678e
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000326/ep_meta.json
@@ -0,0 +1,451 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_5_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw010/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.08641,
+                        0.086454,
+                        0.109506
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup024/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.683303489825889,
+                    0.8450000000000001
+                ],
+                "offset": [
+                    -0.00014824574345695396,
+                    0.27749999999999986,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_5_main_group_2"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.633257248586337,
+        -0.7606551196702735,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000328/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000328/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d0af079e27bfb8cd5fdecaa192bb2a975a83b50a
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000328/ep_meta.json
@@ -0,0 +1,451 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_3_main_group_3",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw009/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.06996087000000001,
+                        0.06996051,
+                        0.1
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup022/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.683303489825889,
+                    0.8450000000000001
+                ],
+                "offset": [
+                    -0.00014824574345695396,
+                    0.27749999999999986,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_3_main_group_3"
+    },
+    "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": [
+        1.8956502471412024,
+        -0.8217119382862382,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000332/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000332/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a4a08d4827f3228cbc58861d2114dff34a9f281c
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000332/ep_meta.json
@@ -0,0 +1,598 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_2_left_group_3",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw009/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.06561669,
+                        0.065618,
+                        0.14712964
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup023/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.8020727043346244,
+                    0.9350000000000002
+                ],
+                "offset": [
+                    -6.48575127626394e-05,
+                    0.3075,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "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": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_2_left_group_3"
+    },
+    "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": [
+        0.8138118751867343,
+        -1.3378437550014677,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415963267948968
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000336/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000336/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a11e12df9dce6ee0d39ac7ddbf929d35564b0de4
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000336/ep_meta.json
@@ -0,0 +1,529 @@
+{
+    "layout_id": 10,
+    "style_id": 10,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_2_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw012/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_dining_area_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.09940219,
+                        0.0994084,
+                        0.12121953
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup021/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.249796168970498,
+                    1.0
+                ],
+                "offset": [
+                    -0.00010191551475102756,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_room": {
+            "cls": "Wall"
+        },
+        "wall_front_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_2_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_front_room": {
+            "cls": "Floor"
+        },
+        "floor_front_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "right_corner_box_main_group": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_4": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_left_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "box_left_top_left_group": {
+            "cls": "Box"
+        },
+        "box_left_bottom_left_group": {
+            "cls": "Box"
+        },
+        "box_right_top_left_group": {
+            "cls": "Box"
+        },
+        "box_right_bottom_left_group": {
+            "cls": "Box"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_2": {
+            "cls": "Drawer"
+        },
+        "shelves_front_group": {
+            "cls": "OpenCabinet"
+        },
+        "bottom_front_group_base": {
+            "cls": "Box"
+        },
+        "bottom_front_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_front_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_middle_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_front_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_front_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "utensil_set_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_dining_area_group": {
+            "cls": "Counter"
+        },
+        "paper_towel_dining_area_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_dining_area_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "counter_1_dining_area_group",
+        "drawer": "stack_2_main_group_2"
+    },
+    "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": [
+        1.9935059695446449,
+        -0.7844839453349723,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000338/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000338/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..77327213588945105a84a1a3d4cfa5eb1c990820
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000338/ep_meta.json
@@ -0,0 +1,529 @@
+{
+    "layout_id": 10,
+    "style_id": 10,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_4_main_group_4",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw008/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.6779999999999999,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_dining_area_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_1_room",
+                    "min_size": [
+                        0.06561669,
+                        0.065618,
+                        0.14712964
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup023/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.0502038361803159,
+                    1.0
+                ],
+                "offset": [
+                    0.5998980819098421,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_room": {
+            "cls": "Wall"
+        },
+        "wall_front_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_2_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_front_room": {
+            "cls": "Floor"
+        },
+        "floor_front_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "right_corner_box_main_group": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_4": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_left_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "box_left_top_left_group": {
+            "cls": "Box"
+        },
+        "box_left_bottom_left_group": {
+            "cls": "Box"
+        },
+        "box_right_top_left_group": {
+            "cls": "Box"
+        },
+        "box_right_bottom_left_group": {
+            "cls": "Box"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_2": {
+            "cls": "Drawer"
+        },
+        "shelves_front_group": {
+            "cls": "OpenCabinet"
+        },
+        "bottom_front_group_base": {
+            "cls": "Box"
+        },
+        "bottom_front_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_front_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_middle_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_front_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_front_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "utensil_set_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_dining_area_group": {
+            "cls": "Counter"
+        },
+        "paper_towel_dining_area_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_dining_area_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_1_room",
+        "dining_counter": "counter_1_dining_area_group",
+        "drawer": "stack_4_main_group_4"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.735206603874158,
+        -0.8332012649614462,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000341/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000341/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b6328c209b821fd90a2c7ea3f2eada619664af7
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000341/ep_meta.json
@@ -0,0 +1,451 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_5_main_group_3",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw008/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_1_room",
+                    "min_size": [
+                        0.08641,
+                        0.086454,
+                        0.109506
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup024/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.6161035216202366,
+                    1.4
+                ],
+                "offset": [
+                    0.6498517514665196,
+                    2.0816681711721685e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_1_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_5_main_group_3"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.102544257937409,
+        -0.7599655182534126,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000343/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000343/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c847789838ad9c193cba0a7d6a2b60479cca5847
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000343/ep_meta.json
@@ -0,0 +1,451 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "island_cab_left_island_group_4",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw008/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.528,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_1_room",
+                    "min_size": [
+                        0.06996087000000001,
+                        0.06996051,
+                        0.1
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup022/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.6161035216202366,
+                    1.4
+                ],
+                "offset": [
+                    0.6498517514665196,
+                    2.0816681711721685e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_1_room",
+        "dining_counter": "island_island_group",
+        "drawer": "island_cab_left_island_group_4"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.466457148511223,
+        -1.7539832644751305,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        4.712296326794897
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000346/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000346/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a773c2948857ef07aff25db2841ea3b0678d6622
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000346/ep_meta.json
@@ -0,0 +1,439 @@
+{
+    "layout_id": 4,
+    "style_id": 4,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_3_left_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw008/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.09940219,
+                        0.0994084,
+                        0.12121953
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup021/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.4399842052305356,
+                    1.6
+                ],
+                "offset": [
+                    0.005007897384732285,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_right_main_group": {
+            "cls": "Counter"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "fridge_cab_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_left_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_left_group": {
+            "cls": "Box"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_left_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_3_left_group_2"
+    },
+    "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": [
+        0.8108971406231751,
+        -1.4886055829299114,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415963267948968
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000347/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000347/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9787b1903f4da28aae5bfdaf9f7f4ba21a4b9733
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000347/ep_meta.json
@@ -0,0 +1,598 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_2_left_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw011/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_3_room",
+                    "min_size": [
+                        0.06561669,
+                        0.065618,
+                        0.14712964
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup023/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.4979272900853289,
+                    1.55
+                ],
+                "offset": [
+                    -0.6500648547227392,
+                    2.0816681711721685e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "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": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_3_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_2_left_group_2"
+    },
+    "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": [
+        0.7669262305133435,
+        -1.8673007956969554,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415963267948968
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000348/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000348/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..43b6c13a271965c6c89f655c208d1d0b8f984912
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000348/ep_meta.json
@@ -0,0 +1,469 @@
+{
+    "layout_id": 8,
+    "style_id": 8,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_2_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw009/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_front_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.06561669,
+                        0.065618,
+                        0.14712964
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup023/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.1999258801329122,
+                    0.65
+                ],
+                "offset": [
+                    -0.35003705993354384,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "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"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "flower_vase_right_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "counter_1_front_group",
+        "drawer": "stack_2_main_group_2"
+    },
+    "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": [
+        1.8814822666280862,
+        -0.815282128778199,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000350/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000350/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2b8f96943a537352c4c7145975976a5982bce1d5
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000350/ep_meta.json
@@ -0,0 +1,529 @@
+{
+    "layout_id": 10,
+    "style_id": 10,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_1_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw011/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_dining_area_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_1_room",
+                    "min_size": [
+                        0.08641,
+                        0.086454,
+                        0.109506
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup024/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.0502038361803159,
+                    1.0
+                ],
+                "offset": [
+                    0.5998980819098421,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_room": {
+            "cls": "Wall"
+        },
+        "wall_front_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_2_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_front_room": {
+            "cls": "Floor"
+        },
+        "floor_front_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "right_corner_box_main_group": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_4": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_left_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "box_left_top_left_group": {
+            "cls": "Box"
+        },
+        "box_left_bottom_left_group": {
+            "cls": "Box"
+        },
+        "box_right_top_left_group": {
+            "cls": "Box"
+        },
+        "box_right_bottom_left_group": {
+            "cls": "Box"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_2": {
+            "cls": "Drawer"
+        },
+        "shelves_front_group": {
+            "cls": "OpenCabinet"
+        },
+        "bottom_front_group_base": {
+            "cls": "Box"
+        },
+        "bottom_front_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_front_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_middle_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_front_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_front_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "utensil_set_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_dining_area_group": {
+            "cls": "Counter"
+        },
+        "paper_towel_dining_area_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_dining_area_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_1_room",
+        "dining_counter": "counter_1_dining_area_group",
+        "drawer": "stack_1_main_group_2"
+    },
+    "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": [
+        0.9861145159175894,
+        -0.8234756456898953,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000352/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000352/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2419ca223a71db2ae54a741e66a55859b6eb5512
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000352/ep_meta.json
@@ -0,0 +1,469 @@
+{
+    "layout_id": 8,
+    "style_id": 8,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_1_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw010/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_front_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.06561669,
+                        0.065618,
+                        0.14712964
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup023/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.1999258801329122,
+                    0.65
+                ],
+                "offset": [
+                    -0.35003705993354384,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "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"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "flower_vase_right_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "counter_1_front_group",
+        "drawer": "stack_1_main_group_2"
+    },
+    "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": [
+        0.9267910058079021,
+        -0.7530991780146733,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000354/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000354/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a19c56f7962e36c2c44b6ccf8347b45d4f05bc4c
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000354/ep_meta.json
@@ -0,0 +1,598 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_2_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw012/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_1_room",
+                    "min_size": [
+                        0.06996087000000001,
+                        0.06996051,
+                        0.1
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup022/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.4976678600342783,
+                    1.55
+                ],
+                "offset": [
+                    0.649935139697214,
+                    2.0816681711721685e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "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": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_1_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_2_main_group_2"
+    },
+    "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": [
+        1.9176903493389044,
+        -0.7789549619792037,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000358/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000358/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7f74d5a58123557db6bf1b2c530efcd6aa9db9e6
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000358/ep_meta.json
@@ -0,0 +1,451 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_3_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw009/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_1_room",
+                    "min_size": [
+                        0.08641,
+                        0.086454,
+                        0.109506
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup024/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.6161035216202366,
+                    1.4
+                ],
+                "offset": [
+                    0.6498517514665196,
+                    2.0816681711721685e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_1_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_3_main_group_2"
+    },
+    "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": [
+        1.6051902509495388,
+        -0.8452370467813842,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000359/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000359/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d4fe2708376d1c364ebdf95fbad72843119e7fe
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000359/ep_meta.json
@@ -0,0 +1,439 @@
+{
+    "layout_id": 4,
+    "style_id": 4,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_3_left_group_3",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw010/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_1_room",
+                    "min_size": [
+                        0.06996087000000001,
+                        0.06996051,
+                        0.1
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup022/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.1399842052393057,
+                    1.6
+                ],
+                "offset": [
+                    0.6550078973803473,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_right_main_group": {
+            "cls": "Counter"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "fridge_cab_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_left_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_left_group": {
+            "cls": "Box"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_left_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_1_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_3_left_group_3"
+    },
+    "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": [
+        0.764863007945445,
+        -1.0345133083528386,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415963267948968
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000362/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000362/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..df1ed62310a459d5aa7be787d4465109f1d0826a
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000362/ep_meta.json
@@ -0,0 +1,529 @@
+{
+    "layout_id": 10,
+    "style_id": 10,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_4_main_group_4",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw012/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.6779999999999999,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_dining_area_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_3_room",
+                    "min_size": [
+                        0.08641,
+                        0.086454,
+                        0.109506
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup024/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.0497961741213082,
+                    1.0
+                ],
+                "offset": [
+                    -0.6001019129393459,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_room": {
+            "cls": "Wall"
+        },
+        "wall_front_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_2_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_front_room": {
+            "cls": "Floor"
+        },
+        "floor_front_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "right_corner_box_main_group": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_4": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_left_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "box_left_top_left_group": {
+            "cls": "Box"
+        },
+        "box_left_bottom_left_group": {
+            "cls": "Box"
+        },
+        "box_right_top_left_group": {
+            "cls": "Box"
+        },
+        "box_right_bottom_left_group": {
+            "cls": "Box"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_2": {
+            "cls": "Drawer"
+        },
+        "shelves_front_group": {
+            "cls": "OpenCabinet"
+        },
+        "bottom_front_group_base": {
+            "cls": "Box"
+        },
+        "bottom_front_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_front_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_middle_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_front_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_front_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "utensil_set_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_dining_area_group": {
+            "cls": "Counter"
+        },
+        "paper_towel_dining_area_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_dining_area_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_3_room",
+        "dining_counter": "counter_1_dining_area_group",
+        "drawer": "stack_4_main_group_4"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.860126908996219,
+        -0.8374738218314115,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000364/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000364/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..aad651024185f33e131673202534e7c2d11f5fb2
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000364/ep_meta.json
@@ -0,0 +1,451 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_5_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw010/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_3_room",
+                    "min_size": [
+                        0.06024275,
+                        0.0602428,
+                        0.114128
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup025/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.6166965045940636,
+                    1.4
+                ],
+                "offset": [
+                    -0.6501482429534331,
+                    2.0816681711721685e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_3_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_5_main_group_2"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.4285360570570305,
+        -0.8215211498309714,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000366/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000366/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..23b1f283e5955811e38a5119b3c7048a481285e5
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000366/ep_meta.json
@@ -0,0 +1,469 @@
+{
+    "layout_id": 8,
+    "style_id": 8,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_2_left_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw008/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_front_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.08641,
+                        0.086454,
+                        0.109506
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup024/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.1999258801329122,
+                    0.65
+                ],
+                "offset": [
+                    -0.35003705993354384,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "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"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "flower_vase_right_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "counter_1_front_group",
+        "drawer": "stack_2_left_group_2"
+    },
+    "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": [
+        0.8429458448775662,
+        -0.9110822755381416,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415963267948968
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000369/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000369/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..02ff0349d55d6805b76fd3e3be5debf37da31baf
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000369/ep_meta.json
@@ -0,0 +1,598 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_2_main_group_3",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw011/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_1_room",
+                    "min_size": [
+                        0.06561669,
+                        0.065618,
+                        0.14712964
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup023/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.4976678600342783,
+                    1.55
+                ],
+                "offset": [
+                    0.649935139697214,
+                    2.0816681711721685e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "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": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_1_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_2_main_group_3"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.5990402744011836,
+        -0.8139258667292811,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000371/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000371/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..53145a7b2178ac21d1a96e69f4b4778c0223f918
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000371/ep_meta.json
@@ -0,0 +1,439 @@
+{
+    "layout_id": 4,
+    "style_id": 4,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_3_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw011/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.08641,
+                        0.086454,
+                        0.109506
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup024/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.4399842052305356,
+                    1.6
+                ],
+                "offset": [
+                    0.005007897384732285,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_right_main_group": {
+            "cls": "Counter"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "fridge_cab_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_left_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_left_group": {
+            "cls": "Box"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_left_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_3_main_group_2"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.8473265835912063,
+        -0.8126427328188535,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000374/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000374/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0936976a0bb0f6f53bc6cee75a088be794010287
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000374/ep_meta.json
@@ -0,0 +1,523 @@
+{
+    "layout_id": 9,
+    "style_id": 9,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_1_left_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw011/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_front_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_1_room",
+                    "min_size": [
+                        0.06024275,
+                        0.0602428,
+                        0.114128
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup025/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.2500741284517756,
+                    0.65
+                ],
+                "offset": [
+                    0.6499629357741121,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_1_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_2_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "salt_shaker_front_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_front_group_auxiliary_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "plant_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_left_group": {
+            "cls": "Accessory"
+        },
+        "stack_left_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_right_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "cab_top_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_right_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "side_bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "side_bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_3": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_1_room",
+        "dining_counter": "counter_1_front_group",
+        "drawer": "stack_1_left_group_2"
+    },
+    "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": [
+        0.7593089517503409,
+        -3.54380248807356,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415963267948968
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000375/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000375/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..29b311a9c49294b982330e70fb9d98ac5318e3d1
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000375/ep_meta.json
@@ -0,0 +1,598 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_3_left_group_4",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw009/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.09940219,
+                        0.0994084,
+                        0.12121953
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup021/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.8020727043346244,
+                    0.9350000000000002
+                ],
+                "offset": [
+                    -6.48575127626394e-05,
+                    0.3075,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "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": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_3_left_group_4"
+    },
+    "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": [
+        0.8498851476466637,
+        -0.8783392998211759,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415963267948968
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000378/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000378/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cf1f8ea69595b884f16f71fb5c1b72aa39a66a0d
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000378/ep_meta.json
@@ -0,0 +1,451 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_5_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw008/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_3_room",
+                    "min_size": [
+                        0.09940219,
+                        0.0994084,
+                        0.12121953
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup021/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.6166965045940636,
+                    1.4
+                ],
+                "offset": [
+                    -0.6501482429534331,
+                    2.0816681711721685e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_3_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_5_main_group_2"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.645571912797338,
+        -0.8060139044182278,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000383/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000383/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c7102425bd3e59f84abb6f2567c59873b385ec5d
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000383/ep_meta.json
@@ -0,0 +1,451 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_5_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw008/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_3_room",
+                    "min_size": [
+                        0.08641,
+                        0.086454,
+                        0.109506
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup024/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.6166965045940636,
+                    1.4
+                ],
+                "offset": [
+                    -0.6501482429534331,
+                    2.0816681711721685e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_3_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_5_main_group_2"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.635077164774343,
+        -0.7528031485532954,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000387/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000387/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..10b01efd68a6d164dffe9dbb55ef1299e3ec89b7
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000387/ep_meta.json
@@ -0,0 +1,469 @@
+{
+    "layout_id": 8,
+    "style_id": 8,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_2_right_group_4",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw008/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.328,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_front_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.09940219,
+                        0.0994084,
+                        0.12121953
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup021/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.1999258801329122,
+                    0.65
+                ],
+                "offset": [
+                    -0.35003705993354384,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "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"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "flower_vase_right_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "counter_1_front_group",
+        "drawer": "stack_2_right_group_4"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.565948463578347,
+        -2.55019424169668,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000388/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000388/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1c77b7d7ee112dee35c566182883cda05fb24818
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000388/ep_meta.json
@@ -0,0 +1,529 @@
+{
+    "layout_id": 10,
+    "style_id": 10,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_2_main_group_3",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw008/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_dining_area_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_1_room",
+                    "min_size": [
+                        0.06561669,
+                        0.065618,
+                        0.14712964
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup023/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.0502038361803159,
+                    1.0
+                ],
+                "offset": [
+                    0.5998980819098421,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_room": {
+            "cls": "Wall"
+        },
+        "wall_front_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_2_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_front_room": {
+            "cls": "Floor"
+        },
+        "floor_front_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "right_corner_box_main_group": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_4": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_left_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "box_left_top_left_group": {
+            "cls": "Box"
+        },
+        "box_left_bottom_left_group": {
+            "cls": "Box"
+        },
+        "box_right_top_left_group": {
+            "cls": "Box"
+        },
+        "box_right_bottom_left_group": {
+            "cls": "Box"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_2": {
+            "cls": "Drawer"
+        },
+        "shelves_front_group": {
+            "cls": "OpenCabinet"
+        },
+        "bottom_front_group_base": {
+            "cls": "Box"
+        },
+        "bottom_front_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_front_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_middle_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_front_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_front_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "utensil_set_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_dining_area_group": {
+            "cls": "Counter"
+        },
+        "paper_towel_dining_area_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_dining_area_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_1_room",
+        "dining_counter": "counter_1_dining_area_group",
+        "drawer": "stack_2_main_group_3"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.5540761975817623,
+        -0.8450907812045058,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000389/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000389/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..41fe5915cc3162541b09d81d13fcb8b9b397271b
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000389/ep_meta.json
@@ -0,0 +1,469 @@
+{
+    "layout_id": 8,
+    "style_id": 8,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_2_left_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw009/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_front_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.06024275,
+                        0.0602428,
+                        0.114128
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup025/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.1999258801329122,
+                    0.65
+                ],
+                "offset": [
+                    -0.35003705993354384,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "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"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "flower_vase_right_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "counter_1_front_group",
+        "drawer": "stack_2_left_group_2"
+    },
+    "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": [
+        0.8467214291076507,
+        -0.8850740954491647,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415963267948968
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000390/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000390/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0c67b685c40dc74625904ded5ba77f4c836dac00
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000390/ep_meta.json
@@ -0,0 +1,451 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_4_main_group_3",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw012/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_3_room",
+                    "min_size": [
+                        0.06996087000000001,
+                        0.06996051,
+                        0.1
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup022/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.6166965045940636,
+                    1.4
+                ],
+                "offset": [
+                    -0.6501482429534331,
+                    2.0816681711721685e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_3_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_4_main_group_3"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.936067585406884,
+        -0.8064864903662444,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000392/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000392/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1dfae22cddcb4da097e62743d33e305c323e6f8
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000392/ep_meta.json
@@ -0,0 +1,451 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_4_main_group_3",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw011/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_3_room",
+                    "min_size": [
+                        0.09940219,
+                        0.0994084,
+                        0.12121953
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup021/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.6166965045940636,
+                    1.4
+                ],
+                "offset": [
+                    -0.6501482429534331,
+                    2.0816681711721685e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_3_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_4_main_group_3"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.056055003761106,
+        -0.81127064675332,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000393/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000393/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd8377ec96cc9de5713ba3062414a4a9b246a711
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000393/ep_meta.json
@@ -0,0 +1,523 @@
+{
+    "layout_id": 9,
+    "style_id": 9,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_3_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw009/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_front_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_1_room",
+                    "min_size": [
+                        0.08641,
+                        0.086454,
+                        0.109506
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup024/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.2500741284517756,
+                    0.65
+                ],
+                "offset": [
+                    0.6499629357741121,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_1_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_2_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "salt_shaker_front_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_front_group_auxiliary_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "plant_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_left_group": {
+            "cls": "Accessory"
+        },
+        "stack_left_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_right_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "cab_top_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_right_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "side_bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "side_bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_3": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_1_room",
+        "dining_counter": "counter_1_front_group",
+        "drawer": "stack_3_main_group_2"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.9200933155089337,
+        -0.8026489199132308,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000394/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000394/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec9b719900e133fbdb30e41e705c08fa6570d665
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000394/ep_meta.json
@@ -0,0 +1,529 @@
+{
+    "layout_id": 10,
+    "style_id": 10,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_2_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw009/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_dining_area_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.08641,
+                        0.086454,
+                        0.109506
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup024/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.249796168970498,
+                    1.0
+                ],
+                "offset": [
+                    -0.00010191551475102756,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_room": {
+            "cls": "Wall"
+        },
+        "wall_front_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_2_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_front_room": {
+            "cls": "Floor"
+        },
+        "floor_front_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "right_corner_box_main_group": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_4": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_left_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "box_left_top_left_group": {
+            "cls": "Box"
+        },
+        "box_left_bottom_left_group": {
+            "cls": "Box"
+        },
+        "box_right_top_left_group": {
+            "cls": "Box"
+        },
+        "box_right_bottom_left_group": {
+            "cls": "Box"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_2": {
+            "cls": "Drawer"
+        },
+        "shelves_front_group": {
+            "cls": "OpenCabinet"
+        },
+        "bottom_front_group_base": {
+            "cls": "Box"
+        },
+        "bottom_front_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_front_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_middle_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_front_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_front_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "utensil_set_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_dining_area_group": {
+            "cls": "Counter"
+        },
+        "paper_towel_dining_area_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_dining_area_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "counter_1_dining_area_group",
+        "drawer": "stack_2_main_group_2"
+    },
+    "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": [
+        1.8240650312662692,
+        -0.8355164835271691,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000396/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000396/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f9b297267b2c30d9ee530791268dabd5ffa40b0e
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000396/ep_meta.json
@@ -0,0 +1,529 @@
+{
+    "layout_id": 10,
+    "style_id": 10,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_3_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw012/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_dining_area_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_3_room",
+                    "min_size": [
+                        0.06024275,
+                        0.0602428,
+                        0.114128
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup025/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.0497961741213082,
+                    1.0
+                ],
+                "offset": [
+                    -0.6001019129393459,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_room": {
+            "cls": "Wall"
+        },
+        "wall_front_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_2_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_front_room": {
+            "cls": "Floor"
+        },
+        "floor_front_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "right_corner_box_main_group": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_4": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_left_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "box_left_top_left_group": {
+            "cls": "Box"
+        },
+        "box_left_bottom_left_group": {
+            "cls": "Box"
+        },
+        "box_right_top_left_group": {
+            "cls": "Box"
+        },
+        "box_right_bottom_left_group": {
+            "cls": "Box"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_2": {
+            "cls": "Drawer"
+        },
+        "shelves_front_group": {
+            "cls": "OpenCabinet"
+        },
+        "bottom_front_group_base": {
+            "cls": "Box"
+        },
+        "bottom_front_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_front_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_middle_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_front_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_front_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "utensil_set_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_dining_area_group": {
+            "cls": "Counter"
+        },
+        "paper_towel_dining_area_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_dining_area_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_3_room",
+        "dining_counter": "counter_1_dining_area_group",
+        "drawer": "stack_3_main_group_2"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.6003196634856476,
+        -0.8217463334106854,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000397/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000397/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..749a3bcdff681dc2e77991e702200be4988f60b1
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000397/ep_meta.json
@@ -0,0 +1,598 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_6_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw009/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_3_room",
+                    "min_size": [
+                        0.08641,
+                        0.086454,
+                        0.109506
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup024/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.4979272900853289,
+                    1.55
+                ],
+                "offset": [
+                    -0.6500648547227392,
+                    2.0816681711721685e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "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": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_3_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_6_main_group_2"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        5.470414965153468,
+        -0.8403978345610909,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000403/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000403/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2d329ef2b616794088fed00c074fb42fd725cde7
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000403/ep_meta.json
@@ -0,0 +1,598 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_5_main_group_3",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw012/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.06996087000000001,
+                        0.06996051,
+                        0.1
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup022/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.8020727043346244,
+                    0.9350000000000002
+                ],
+                "offset": [
+                    -6.48575127626394e-05,
+                    0.3075,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "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": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_5_main_group_3"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        5.005016783863136,
+        -0.8356222565264515,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000407/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000407/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..346776c3d1abab5ec8b05552a7ec6cb8474b2925
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000407/ep_meta.json
@@ -0,0 +1,451 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_5_main_group_3",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw008/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.09940219,
+                        0.0994084,
+                        0.12121953
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup021/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.683303489825889,
+                    0.8450000000000001
+                ],
+                "offset": [
+                    -0.00014824574345695396,
+                    0.27749999999999986,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_5_main_group_3"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.14229480496895,
+        -0.7999995913801005,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000408/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000408/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d9fdc4cad49f29fc57da4cb9217ca09fa00f5882
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000408/ep_meta.json
@@ -0,0 +1,598 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_5_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw009/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.06024275,
+                        0.0602428,
+                        0.114128
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup025/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.8020727043346244,
+                    0.9350000000000002
+                ],
+                "offset": [
+                    -6.48575127626394e-05,
+                    0.3075,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "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": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_5_main_group_2"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.536831087001617,
+        -0.7927409782026876,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000411/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000411/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6da39aca5e0e59825b2afac5239281ce0c4aed7b
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000411/ep_meta.json
@@ -0,0 +1,439 @@
+{
+    "layout_id": 4,
+    "style_id": 4,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_3_main_group_3",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw009/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_3_room",
+                    "min_size": [
+                        0.06996087000000001,
+                        0.06996051,
+                        0.1
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup022/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.1600157947782348,
+                    1.6
+                ],
+                "offset": [
+                    -0.6449921026108827,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_right_main_group": {
+            "cls": "Counter"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "fridge_cab_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_left_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_left_group": {
+            "cls": "Box"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_left_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_3_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_3_main_group_3"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.329508222896703,
+        -0.7572148720988217,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000413/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000413/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..79f6cb5741e63d0cbe0e9f21af5210396a9d2317
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000413/ep_meta.json
@@ -0,0 +1,439 @@
+{
+    "layout_id": 4,
+    "style_id": 4,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_3_left_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw009/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_1_room",
+                    "min_size": [
+                        0.06561669,
+                        0.065618,
+                        0.14712964
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup023/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.1399842052393057,
+                    1.6
+                ],
+                "offset": [
+                    0.6550078973803473,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_right_main_group": {
+            "cls": "Counter"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "fridge_cab_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_left_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_left_group": {
+            "cls": "Box"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_left_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_1_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_3_left_group_2"
+    },
+    "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": [
+        0.7574928936816673,
+        -1.5682785403769919,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415963267948968
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000414/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000414/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2418e5ba001777622e1b041213a556f77e5823bf
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000414/ep_meta.json
@@ -0,0 +1,439 @@
+{
+    "layout_id": 4,
+    "style_id": 4,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_3_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw010/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_1_room",
+                    "min_size": [
+                        0.06996087000000001,
+                        0.06996051,
+                        0.1
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup022/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.1399842052393057,
+                    1.6
+                ],
+                "offset": [
+                    0.6550078973803473,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_right_main_group": {
+            "cls": "Counter"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "fridge_cab_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_left_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_left_group": {
+            "cls": "Box"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_left_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_1_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_3_main_group_2"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.8980676801613456,
+        -0.8202377270944161,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000415/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000415/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2272311297aab90140b79b264db607c6e6eae4f2
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000415/ep_meta.json
@@ -0,0 +1,469 @@
+{
+    "layout_id": 8,
+    "style_id": 8,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_2_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw009/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_front_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_1_room",
+                    "min_size": [
+                        0.08641,
+                        0.086454,
+                        0.109506
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup024/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.100074126305603,
+                    0.65
+                ],
+                "offset": [
+                    0.3999629368471984,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "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"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "flower_vase_right_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_1_room",
+        "dining_counter": "counter_1_front_group",
+        "drawer": "stack_2_main_group_2"
+    },
+    "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": [
+        1.9994580159165731,
+        -0.7685614477193545,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000417/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000417/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8f8ede918986ca3adb9d13f1726a9f61c0bdc396
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000417/ep_meta.json
@@ -0,0 +1,451 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_5_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw008/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.09940219,
+                        0.0994084,
+                        0.12121953
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup021/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.683303489825889,
+                    0.8450000000000001
+                ],
+                "offset": [
+                    -0.00014824574345695396,
+                    0.27749999999999986,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_5_main_group_2"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.587055439022936,
+        -0.7773819277663144,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000422/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000422/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4856ddefa19a07bd92d5babcb88224e678c31d50
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000422/ep_meta.json
@@ -0,0 +1,523 @@
+{
+    "layout_id": 9,
+    "style_id": 9,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_3_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw011/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_front_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_1_room",
+                    "min_size": [
+                        0.09940219,
+                        0.0994084,
+                        0.12121953
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup021/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.2500741284517756,
+                    0.65
+                ],
+                "offset": [
+                    0.6499629357741121,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_1_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_2_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "salt_shaker_front_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_front_group_auxiliary_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "plant_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_left_group": {
+            "cls": "Accessory"
+        },
+        "stack_left_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_right_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "cab_top_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_right_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "side_bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "side_bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_3": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_1_room",
+        "dining_counter": "counter_1_front_group",
+        "drawer": "stack_3_main_group_2"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.9636078291531733,
+        -0.8387754152072778,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000431/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000431/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bcaa9bd22dec8574eb4cb7db28a1ecbb78415406
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000431/ep_meta.json
@@ -0,0 +1,529 @@
+{
+    "layout_id": 10,
+    "style_id": 10,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_1_main_group_3",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw011/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_dining_area_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_1_room",
+                    "min_size": [
+                        0.06996087000000001,
+                        0.06996051,
+                        0.1
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup022/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.0502038361803159,
+                    1.0
+                ],
+                "offset": [
+                    0.5998980819098421,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_room": {
+            "cls": "Wall"
+        },
+        "wall_front_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_2_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_front_room": {
+            "cls": "Floor"
+        },
+        "floor_front_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "right_corner_box_main_group": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_4": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_left_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "box_left_top_left_group": {
+            "cls": "Box"
+        },
+        "box_left_bottom_left_group": {
+            "cls": "Box"
+        },
+        "box_right_top_left_group": {
+            "cls": "Box"
+        },
+        "box_right_bottom_left_group": {
+            "cls": "Box"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_2": {
+            "cls": "Drawer"
+        },
+        "shelves_front_group": {
+            "cls": "OpenCabinet"
+        },
+        "bottom_front_group_base": {
+            "cls": "Box"
+        },
+        "bottom_front_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_front_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_middle_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_front_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_front_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "utensil_set_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_dining_area_group": {
+            "cls": "Counter"
+        },
+        "paper_towel_dining_area_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_dining_area_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_1_room",
+        "dining_counter": "counter_1_dining_area_group",
+        "drawer": "stack_1_main_group_3"
+    },
+    "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": [
+        1.383402386826515,
+        -0.8451374427945313,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000434/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000434/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2589e3f4413d59736e04f3c8f7465c9a0c4182d1
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000434/ep_meta.json
@@ -0,0 +1,529 @@
+{
+    "layout_id": 10,
+    "style_id": 10,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_1_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw011/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_dining_area_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.08641,
+                        0.086454,
+                        0.109506
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup024/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.249796168970498,
+                    1.0
+                ],
+                "offset": [
+                    -0.00010191551475102756,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_room": {
+            "cls": "Wall"
+        },
+        "wall_front_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_2_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_front_room": {
+            "cls": "Floor"
+        },
+        "floor_front_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "right_corner_box_main_group": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_4": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_left_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "box_left_top_left_group": {
+            "cls": "Box"
+        },
+        "box_left_bottom_left_group": {
+            "cls": "Box"
+        },
+        "box_right_top_left_group": {
+            "cls": "Box"
+        },
+        "box_right_bottom_left_group": {
+            "cls": "Box"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_2": {
+            "cls": "Drawer"
+        },
+        "shelves_front_group": {
+            "cls": "OpenCabinet"
+        },
+        "bottom_front_group_base": {
+            "cls": "Box"
+        },
+        "bottom_front_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_front_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_middle_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_front_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_front_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "utensil_set_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_dining_area_group": {
+            "cls": "Counter"
+        },
+        "paper_towel_dining_area_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_dining_area_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "counter_1_dining_area_group",
+        "drawer": "stack_1_main_group_2"
+    },
+    "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": [
+        1.0418978700154493,
+        -0.7659648959904763,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000435/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000435/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..40925cb4a6e5466199021e6139626ddb218b5289
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000435/ep_meta.json
@@ -0,0 +1,598 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_1_main_group_3",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw010/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_1_room",
+                    "min_size": [
+                        0.06024275,
+                        0.0602428,
+                        0.114128
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup025/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.4976678600342783,
+                    1.55
+                ],
+                "offset": [
+                    0.649935139697214,
+                    2.0816681711721685e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "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": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_1_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_1_main_group_3"
+    },
+    "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": [
+        1.5303938939181367,
+        -0.7826932728753632,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000438/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000438/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..24987d1fef4c2aca6f571106376680fe085e1bd5
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000438/ep_meta.json
@@ -0,0 +1,529 @@
+{
+    "layout_id": 10,
+    "style_id": 10,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_1_main_group_3",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw011/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_dining_area_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.09940219,
+                        0.0994084,
+                        0.12121953
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup021/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.249796168970498,
+                    1.0
+                ],
+                "offset": [
+                    -0.00010191551475102756,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_room": {
+            "cls": "Wall"
+        },
+        "wall_front_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_2_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_front_room": {
+            "cls": "Floor"
+        },
+        "floor_front_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "right_corner_box_main_group": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_4": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_left_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "box_left_top_left_group": {
+            "cls": "Box"
+        },
+        "box_left_bottom_left_group": {
+            "cls": "Box"
+        },
+        "box_right_top_left_group": {
+            "cls": "Box"
+        },
+        "box_right_bottom_left_group": {
+            "cls": "Box"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_2": {
+            "cls": "Drawer"
+        },
+        "shelves_front_group": {
+            "cls": "OpenCabinet"
+        },
+        "bottom_front_group_base": {
+            "cls": "Box"
+        },
+        "bottom_front_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_front_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_middle_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_front_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_front_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "utensil_set_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_dining_area_group": {
+            "cls": "Counter"
+        },
+        "paper_towel_dining_area_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_dining_area_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "counter_1_dining_area_group",
+        "drawer": "stack_1_main_group_3"
+    },
+    "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": [
+        1.5282019028247409,
+        -0.8203546676188161,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000439/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000439/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b5b159bc4a3164bfe4558ac21cc1617c73c07b3f
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000439/ep_meta.json
@@ -0,0 +1,451 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_3_main_group_3",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw012/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_3_room",
+                    "min_size": [
+                        0.06996087000000001,
+                        0.06996051,
+                        0.1
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup022/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.6166965045940636,
+                    1.4
+                ],
+                "offset": [
+                    -0.6501482429534331,
+                    2.0816681711721685e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_3_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_3_main_group_3"
+    },
+    "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": [
+        1.932594879865286,
+        -0.8177353572645536,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000440/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000440/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e683c7cd52d742d5777f11595d23162399234ca6
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000440/ep_meta.json
@@ -0,0 +1,451 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_5_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw011/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_3_room",
+                    "min_size": [
+                        0.06996087000000001,
+                        0.06996051,
+                        0.1
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup022/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.6166965045940636,
+                    1.4
+                ],
+                "offset": [
+                    -0.6501482429534331,
+                    2.0816681711721685e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_3_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_5_main_group_2"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.4617749759885235,
+        -0.8038862907480686,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000445/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000445/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a14635f42da985f4f862b6d851d8e3f3870965d2
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000445/ep_meta.json
@@ -0,0 +1,451 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_3_main_group_3",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw011/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_3_room",
+                    "min_size": [
+                        0.06024275,
+                        0.0602428,
+                        0.114128
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup025/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.6166965045940636,
+                    1.4
+                ],
+                "offset": [
+                    -0.6501482429534331,
+                    2.0816681711721685e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_3_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_3_main_group_3"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.076581113722893,
+        -0.7697083620776822,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000452/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000452/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3f6414f3000cf1a0d84bc326f3cf2a22d44f9657
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000452/ep_meta.json
@@ -0,0 +1,439 @@
+{
+    "layout_id": 4,
+    "style_id": 4,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_3_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw010/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.06024275,
+                        0.0602428,
+                        0.114128
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup025/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.4399842052305356,
+                    1.6
+                ],
+                "offset": [
+                    0.005007897384732285,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_right_main_group": {
+            "cls": "Counter"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "fridge_cab_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_left_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_left_group": {
+            "cls": "Box"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_left_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_3_main_group_2"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.9431946205429664,
+        -0.7878996244849837,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000453/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000453/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..10cb9cccb5749679455194b298329c468069e587
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000453/ep_meta.json
@@ -0,0 +1,598 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_1_left_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw008/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_3_room",
+                    "min_size": [
+                        0.06561669,
+                        0.065618,
+                        0.14712964
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup023/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.4979272900853289,
+                    1.55
+                ],
+                "offset": [
+                    -0.6500648547227392,
+                    2.0816681711721685e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "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": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_3_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_1_left_group_2"
+    },
+    "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": [
+        0.7862177873111652,
+        -2.4168984358387413,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415963267948968
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000454/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000454/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f894b98a405917a8a5524a3680f1565ab1287d33
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000454/ep_meta.json
@@ -0,0 +1,469 @@
+{
+    "layout_id": 8,
+    "style_id": 8,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_1_main_group_3",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw011/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_front_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.08641,
+                        0.086454,
+                        0.109506
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup024/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.1999258801329122,
+                    0.65
+                ],
+                "offset": [
+                    -0.35003705993354384,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "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"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "flower_vase_right_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "counter_1_front_group",
+        "drawer": "stack_1_main_group_3"
+    },
+    "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": [
+        1.573599084069831,
+        -0.8049737191580015,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000456/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000456/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec343fa1832d3c135a686a0720a48f78b16e3ff7
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000456/ep_meta.json
@@ -0,0 +1,451 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_3_main_group_3",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw010/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_1_room",
+                    "min_size": [
+                        0.08641,
+                        0.086454,
+                        0.109506
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup024/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.6161035216202366,
+                    1.4
+                ],
+                "offset": [
+                    0.6498517514665196,
+                    2.0816681711721685e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_1_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_3_main_group_3"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.082808728072692,
+        -0.7877582939192668,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000457/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000457/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..56315dbd9439ed89cd63caef5e03185e7c26b091
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000457/ep_meta.json
@@ -0,0 +1,598 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_2_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw011/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_1_room",
+                    "min_size": [
+                        0.06024275,
+                        0.0602428,
+                        0.114128
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup025/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.4976678600342783,
+                    1.55
+                ],
+                "offset": [
+                    0.649935139697214,
+                    2.0816681711721685e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "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": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_1_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_2_main_group_2"
+    },
+    "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": [
+        1.8757234993647434,
+        -0.7883430913395569,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000462/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000462/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..32a790150c04850e6d59e516772df6cc7e7ecc9f
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000462/ep_meta.json
@@ -0,0 +1,529 @@
+{
+    "layout_id": 10,
+    "style_id": 10,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_2_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw008/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_dining_area_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.08641,
+                        0.086454,
+                        0.109506
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup024/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.249796168970498,
+                    1.0
+                ],
+                "offset": [
+                    -0.00010191551475102756,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_room": {
+            "cls": "Wall"
+        },
+        "wall_front_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_2_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_front_room": {
+            "cls": "Floor"
+        },
+        "floor_front_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "right_corner_box_main_group": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_4": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_left_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "box_left_top_left_group": {
+            "cls": "Box"
+        },
+        "box_left_bottom_left_group": {
+            "cls": "Box"
+        },
+        "box_right_top_left_group": {
+            "cls": "Box"
+        },
+        "box_right_bottom_left_group": {
+            "cls": "Box"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_2": {
+            "cls": "Drawer"
+        },
+        "shelves_front_group": {
+            "cls": "OpenCabinet"
+        },
+        "bottom_front_group_base": {
+            "cls": "Box"
+        },
+        "bottom_front_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_front_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_middle_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_front_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_front_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "utensil_set_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_dining_area_group": {
+            "cls": "Counter"
+        },
+        "paper_towel_dining_area_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_dining_area_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "counter_1_dining_area_group",
+        "drawer": "stack_2_main_group_2"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.0699894209877567,
+        -0.8293798271101982,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000463/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000463/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b054f92b75bbae42bbada9cc083030291bd6e5f
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000463/ep_meta.json
@@ -0,0 +1,598 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_2_right_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw012/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.09940219,
+                        0.0994084,
+                        0.12121953
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup021/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.8020727043346244,
+                    0.9350000000000002
+                ],
+                "offset": [
+                    -6.48575127626394e-05,
+                    0.3075,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "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": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_2_right_group_2"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        5.58048522990201,
+        -2.0319696289990716,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000464/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000464/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7039bd03a222856b6fd58a60fb441f5c39e76bcf
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000464/ep_meta.json
@@ -0,0 +1,451 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "island_cab_left_island_group_4",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw010/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.528,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_3_room",
+                    "min_size": [
+                        0.06561669,
+                        0.065618,
+                        0.14712964
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup023/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.6166965045940636,
+                    1.4
+                ],
+                "offset": [
+                    -0.6501482429534331,
+                    2.0816681711721685e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_3_room",
+        "dining_counter": "island_island_group",
+        "drawer": "island_cab_left_island_group_4"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.477159848962792,
+        -1.7646677491380027,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        4.712296326794897
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000466/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000466/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..77ace0b63123834e68b8838cc90e1d923ba98732
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000466/ep_meta.json
@@ -0,0 +1,451 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_4_main_group_3",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw010/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_3_room",
+                    "min_size": [
+                        0.06561669,
+                        0.065618,
+                        0.14712964
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup023/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.6166965045940636,
+                    1.4
+                ],
+                "offset": [
+                    -0.6501482429534331,
+                    2.0816681711721685e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_3_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_4_main_group_3"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.0386749000805864,
+        -0.7637426418248666,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000470/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000470/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..df6218e81a47455cad679db04415833933968c3c
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000470/ep_meta.json
@@ -0,0 +1,523 @@
+{
+    "layout_id": 9,
+    "style_id": 9,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_1_left_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw010/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_front_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_1_room",
+                    "min_size": [
+                        0.09940219,
+                        0.0994084,
+                        0.12121953
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup021/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.2500741284517756,
+                    0.65
+                ],
+                "offset": [
+                    0.6499629357741121,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_1_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_2_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "salt_shaker_front_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_front_group_auxiliary_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "plant_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_left_group": {
+            "cls": "Accessory"
+        },
+        "stack_left_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_right_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "cab_top_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_right_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "side_bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "side_bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_3": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_1_room",
+        "dining_counter": "counter_1_front_group",
+        "drawer": "stack_1_left_group_2"
+    },
+    "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": [
+        0.7583240155381957,
+        -3.496812083839241,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415963267948968
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000472/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000472/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3ce5c27c049c438edf88e01db65c483ce920e0a2
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000472/ep_meta.json
@@ -0,0 +1,598 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_1_right_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw010/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_1_room",
+                    "min_size": [
+                        0.09940219,
+                        0.0994084,
+                        0.12121953
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup021/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.4976678600342783,
+                    1.55
+                ],
+                "offset": [
+                    0.649935139697214,
+                    2.0816681711721685e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "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": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_1_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_1_right_group_2"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        5.5929175218889435,
+        -0.9807779227121508,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000473/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000473/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..684e78e08b3e3bd30bcbb080047c47664f560254
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000473/ep_meta.json
@@ -0,0 +1,598 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_5_main_group_3",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw008/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_1_room",
+                    "min_size": [
+                        0.06996087000000001,
+                        0.06996051,
+                        0.1
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup022/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.4976678600342783,
+                    1.55
+                ],
+                "offset": [
+                    0.649935139697214,
+                    2.0816681711721685e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "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": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_1_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_5_main_group_3"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.989513264227823,
+        -0.8359093513667712,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000476/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000476/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bed2cb01678d67bcaf62b27acacf6a92d9f965f4
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000476/ep_meta.json
@@ -0,0 +1,529 @@
+{
+    "layout_id": 10,
+    "style_id": 10,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_4_main_group_4",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw012/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.6779999999999999,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_dining_area_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_3_room",
+                    "min_size": [
+                        0.06561669,
+                        0.065618,
+                        0.14712964
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup023/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.0497961741213082,
+                    1.0
+                ],
+                "offset": [
+                    -0.6001019129393459,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_room": {
+            "cls": "Wall"
+        },
+        "wall_front_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_2_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_front_room": {
+            "cls": "Floor"
+        },
+        "floor_front_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "right_corner_box_main_group": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_4": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_left_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "box_left_top_left_group": {
+            "cls": "Box"
+        },
+        "box_left_bottom_left_group": {
+            "cls": "Box"
+        },
+        "box_right_top_left_group": {
+            "cls": "Box"
+        },
+        "box_right_bottom_left_group": {
+            "cls": "Box"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_2": {
+            "cls": "Drawer"
+        },
+        "shelves_front_group": {
+            "cls": "OpenCabinet"
+        },
+        "bottom_front_group_base": {
+            "cls": "Box"
+        },
+        "bottom_front_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_front_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_middle_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_front_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_front_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "utensil_set_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_dining_area_group": {
+            "cls": "Counter"
+        },
+        "paper_towel_dining_area_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_dining_area_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_3_room",
+        "dining_counter": "counter_1_dining_area_group",
+        "drawer": "stack_4_main_group_4"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.830042884040443,
+        -0.8078611014230105,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000477/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000477/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8bc68c828da66fc64343a8fe52ab05aa8f056a93
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000477/ep_meta.json
@@ -0,0 +1,529 @@
+{
+    "layout_id": 10,
+    "style_id": 10,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_1_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw009/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_dining_area_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_3_room",
+                    "min_size": [
+                        0.06024275,
+                        0.0602428,
+                        0.114128
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup025/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.0497961741213082,
+                    1.0
+                ],
+                "offset": [
+                    -0.6001019129393459,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_room": {
+            "cls": "Wall"
+        },
+        "wall_front_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_2_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_front_room": {
+            "cls": "Floor"
+        },
+        "floor_front_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "right_corner_box_main_group": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_4": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_left_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "box_left_top_left_group": {
+            "cls": "Box"
+        },
+        "box_left_bottom_left_group": {
+            "cls": "Box"
+        },
+        "box_right_top_left_group": {
+            "cls": "Box"
+        },
+        "box_right_bottom_left_group": {
+            "cls": "Box"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_2": {
+            "cls": "Drawer"
+        },
+        "shelves_front_group": {
+            "cls": "OpenCabinet"
+        },
+        "bottom_front_group_base": {
+            "cls": "Box"
+        },
+        "bottom_front_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_front_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_middle_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_front_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_front_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "utensil_set_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_dining_area_group": {
+            "cls": "Counter"
+        },
+        "paper_towel_dining_area_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_dining_area_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_3_room",
+        "dining_counter": "counter_1_dining_area_group",
+        "drawer": "stack_1_main_group_2"
+    },
+    "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": [
+        1.0313425705769754,
+        -0.7591292585926209,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000478/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000478/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a9ee22bd0146e879a7404cf07d5b254d32e7a92
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000478/ep_meta.json
@@ -0,0 +1,598 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_1_right_group_3",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw012/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.06561669,
+                        0.065618,
+                        0.14712964
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup023/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.8020727043346244,
+                    0.9350000000000002
+                ],
+                "offset": [
+                    -6.48575127626394e-05,
+                    0.3075,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "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": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_1_right_group_3"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        5.603568715750341,
+        -1.5977226332564822,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000480/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000480/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a893e5085653cc07e3b3d2e8bd87a07d7e876d74
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000480/ep_meta.json
@@ -0,0 +1,529 @@
+{
+    "layout_id": 10,
+    "style_id": 10,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_3_main_group_3",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw012/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_dining_area_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.09940219,
+                        0.0994084,
+                        0.12121953
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup021/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.249796168970498,
+                    1.0
+                ],
+                "offset": [
+                    -0.00010191551475102756,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_room": {
+            "cls": "Wall"
+        },
+        "wall_front_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_2_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_front_room": {
+            "cls": "Floor"
+        },
+        "floor_front_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "right_corner_box_main_group": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_4": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_left_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "box_left_top_left_group": {
+            "cls": "Box"
+        },
+        "box_left_bottom_left_group": {
+            "cls": "Box"
+        },
+        "box_right_top_left_group": {
+            "cls": "Box"
+        },
+        "box_right_bottom_left_group": {
+            "cls": "Box"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_2": {
+            "cls": "Drawer"
+        },
+        "shelves_front_group": {
+            "cls": "OpenCabinet"
+        },
+        "bottom_front_group_base": {
+            "cls": "Box"
+        },
+        "bottom_front_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_front_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_middle_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_front_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_front_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "utensil_set_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_dining_area_group": {
+            "cls": "Counter"
+        },
+        "paper_towel_dining_area_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_dining_area_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "counter_1_dining_area_group",
+        "drawer": "stack_3_main_group_3"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.101876707119197,
+        -0.7945097508201224,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000483/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000483/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..28198d2759a54abddad6dccaaf8b49a025ae4b7e
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000483/ep_meta.json
@@ -0,0 +1,598 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_1_right_group_3",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw012/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_1_room",
+                    "min_size": [
+                        0.09940219,
+                        0.0994084,
+                        0.12121953
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup021/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.4976678600342783,
+                    1.55
+                ],
+                "offset": [
+                    0.649935139697214,
+                    2.0816681711721685e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "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": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_1_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_1_right_group_3"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        5.567919320511563,
+        -1.5759353835163437,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000484/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000484/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..283f1f28b1711b1687b32f45af2565298cb853d4
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000484/ep_meta.json
@@ -0,0 +1,469 @@
+{
+    "layout_id": 8,
+    "style_id": 8,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_1_left_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw011/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_front_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_1_room",
+                    "min_size": [
+                        0.06561669,
+                        0.065618,
+                        0.14712964
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup023/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.100074126305603,
+                    0.65
+                ],
+                "offset": [
+                    0.3999629368471984,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "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"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "flower_vase_right_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_1_room",
+        "dining_counter": "counter_1_front_group",
+        "drawer": "stack_1_left_group_2"
+    },
+    "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": [
+        0.8100167522163834,
+        -2.124635402840409,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415963267948968
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000487/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000487/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3d2498960c9f6447020f969f48cb425b7bf217e
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000487/ep_meta.json
@@ -0,0 +1,451 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "island_cab_left_island_group_4",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw008/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.528,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_1_room",
+                    "min_size": [
+                        0.06561669,
+                        0.065618,
+                        0.14712964
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup023/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.6161035216202366,
+                    1.4
+                ],
+                "offset": [
+                    0.6498517514665196,
+                    2.0816681711721685e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_1_room",
+        "dining_counter": "island_island_group",
+        "drawer": "island_cab_left_island_group_4"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.68824151681893,
+        -1.7692961494676314,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        4.712296326794897
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000489/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000489/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..94978ccb709ae1923c1e5214e6a949851c5b411a
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000489/ep_meta.json
@@ -0,0 +1,598 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_3_left_group_4",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw008/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_1_room",
+                    "min_size": [
+                        0.06996087000000001,
+                        0.06996051,
+                        0.1
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup022/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.4976678600342783,
+                    1.55
+                ],
+                "offset": [
+                    0.649935139697214,
+                    2.0816681711721685e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "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": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_1_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_3_left_group_4"
+    },
+    "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": [
+        0.80911150960391,
+        -0.9102067293884584,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415963267948968
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000491/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000491/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8793267e00eb219d683dae864c785cd69e52bcb5
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000491/ep_meta.json
@@ -0,0 +1,469 @@
+{
+    "layout_id": 8,
+    "style_id": 8,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_2_right_group_4",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw009/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.328,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_front_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.08641,
+                        0.086454,
+                        0.109506
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup024/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.1999258801329122,
+                    0.65
+                ],
+                "offset": [
+                    -0.35003705993354384,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "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"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "flower_vase_right_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "counter_1_front_group",
+        "drawer": "stack_2_right_group_4"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.5685495591422622,
+        -2.5892228760507963,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000495/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000495/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..63aa090724191ed4f0ddc2ad21c8c0d68784056f
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000495/ep_meta.json
@@ -0,0 +1,598 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_3_left_group_4",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw008/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.06561669,
+                        0.065618,
+                        0.14712964
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup023/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.8020727043346244,
+                    0.9350000000000002
+                ],
+                "offset": [
+                    -6.48575127626394e-05,
+                    0.3075,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "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": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_3_left_group_4"
+    },
+    "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": [
+        0.8459576530179271,
+        -1.031203171990941,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415963267948968
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000498/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000498/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..13f5fc7175c9e5787cd2443863f1f3a4ebfa69ce
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000498/ep_meta.json
@@ -0,0 +1,523 @@
+{
+    "layout_id": 9,
+    "style_id": 9,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_5_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw011/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_front_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_3_room",
+                    "min_size": [
+                        0.09940219,
+                        0.0994084,
+                        0.12121953
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup021/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.2499258827083182,
+                    0.65
+                ],
+                "offset": [
+                    -0.6500370586458408,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_1_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_2_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "salt_shaker_front_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_front_group_auxiliary_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "plant_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_left_group": {
+            "cls": "Accessory"
+        },
+        "stack_left_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_right_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "cab_top_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_right_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "side_bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "side_bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_3": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_3_room",
+        "dining_counter": "counter_1_front_group",
+        "drawer": "stack_5_main_group_2"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.843128611309003,
+        -0.8399822487317418,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000499/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000499/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1b105fbdc3b2a6c6fa20fe9eaed77e419168aea
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000499/ep_meta.json
@@ -0,0 +1,598 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_2_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw010/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_1_room",
+                    "min_size": [
+                        0.06024275,
+                        0.0602428,
+                        0.114128
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup025/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.4976678600342783,
+                    1.55
+                ],
+                "offset": [
+                    0.649935139697214,
+                    2.0816681711721685e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "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_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "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": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_1_room",
+        "dining_counter": "island_island_group",
+        "drawer": "stack_2_main_group_2"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.0841748122945565,
+        -0.8298741982804824,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000500/ep_meta.json b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000500/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e768fcf7757f44218826a13ceba9a3583c76ccb6
--- /dev/null
+++ b/target/composite/DeliverStraw/20250813/lerobot/extras/episode_000500/ep_meta.json
@@ -0,0 +1,529 @@
+{
+    "layout_id": 10,
+    "style_id": 10,
+    "object_cfgs": [
+        {
+            "name": "straw",
+            "obj_groups": "straw",
+            "object_scale": [
+                1.5,
+                1,
+                2
+            ],
+            "placement": {
+                "fixture": "stack_1_main_group_2",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.0,
+                    -0.25
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "straw"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw011/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "glass_cup",
+            "obj_groups": "glass_cup",
+            "placement": {
+                "fixture": "counter_1_dining_area_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_2_room",
+                    "min_size": [
+                        0.06996087000000001,
+                        0.06996051,
+                        0.1
+                    ]
+                },
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    "ref"
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "glass_cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "glass_cup"
+                ],
+                "cat": "glass_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/glass_cup/GlassCup022/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.249796168970498,
+                    1.0
+                ],
+                "offset": [
+                    -0.00010191551475102756,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_room": {
+            "cls": "Wall"
+        },
+        "wall_front_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_2_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_front_room": {
+            "cls": "Floor"
+        },
+        "floor_front_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "right_corner_box_main_group": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_4": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_left_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "box_left_top_left_group": {
+            "cls": "Box"
+        },
+        "box_left_bottom_left_group": {
+            "cls": "Box"
+        },
+        "box_right_top_left_group": {
+            "cls": "Box"
+        },
+        "box_right_bottom_left_group": {
+            "cls": "Box"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_2": {
+            "cls": "Drawer"
+        },
+        "shelves_front_group": {
+            "cls": "OpenCabinet"
+        },
+        "bottom_front_group_base": {
+            "cls": "Box"
+        },
+        "bottom_front_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_front_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_middle_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_front_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_front_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "utensil_set_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_dining_area_group": {
+            "cls": "Counter"
+        },
+        "paper_towel_dining_area_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_dining_area_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take a straw from the drawer in front and place it inside the glass cup on the dining counter.",
+    "fixture_refs": {
+        "stool": "stool_2_room",
+        "dining_counter": "counter_1_dining_area_group",
+        "drawer": "stack_1_main_group_2"
+    },
+    "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": [
+        0.9551235072395547,
+        -0.8028941693691957,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file