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pretrain/composite/ChooseRipeFruit/20250901/lerobot/extras/episode_000003/ep_meta.json

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+}

pretrain/composite/ChooseRipeFruit/20250901/lerobot/extras/episode_000005/ep_meta.json

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pretrain/composite/ChooseRipeFruit/20250901/lerobot/extras/episode_000006/ep_meta.json

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pretrain/composite/ChooseRipeFruit/20250901/lerobot/extras/episode_000009/ep_meta.json

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+}

pretrain/composite/ChooseRipeFruit/20250901/lerobot/extras/episode_000013/ep_meta.json

@@ -0,0 +1,464 @@
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+}

pretrain/composite/ChooseRipeFruit/20250901/lerobot/extras/episode_000016/ep_meta.json

@@ -0,0 +1,478 @@
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+}

pretrain/composite/ChooseRipeFruit/20250901/lerobot/extras/episode_000017/ep_meta.json

@@ -0,0 +1,545 @@
+{
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+}

pretrain/composite/ChooseRipeFruit/20250901/lerobot/extras/episode_000019/ep_meta.json

@@ -0,0 +1,506 @@
+{
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+        "chosen_inst": "/root/robocasa/robocasa/models/assets/objects/objaverse/tangerine/tangerine_1/model.xml"
+    }
+}

pretrain/composite/ChooseRipeFruit/20250901/lerobot/extras/episode_000021/ep_meta.json

@@ -0,0 +1,509 @@
+{
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+    }
+}

pretrain/composite/ChooseRipeFruit/20250901/lerobot/extras/episode_000023/ep_meta.json

@@ -0,0 +1,467 @@
+{
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+}

pretrain/composite/ChooseRipeFruit/20250901/lerobot/extras/episode_000026/ep_meta.json

@@ -0,0 +1,459 @@
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+}

pretrain/composite/ChooseRipeFruit/20250901/lerobot/extras/episode_000029/ep_meta.json

@@ -0,0 +1,481 @@
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+}

pretrain/composite/ChooseRipeFruit/20250901/lerobot/extras/episode_000034/ep_meta.json

@@ -0,0 +1,509 @@
+{
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pretrain/composite/ChooseRipeFruit/20250901/lerobot/extras/episode_000035/ep_meta.json

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pretrain/composite/ChooseRipeFruit/20250901/lerobot/extras/episode_000038/ep_meta.json

@@ -0,0 +1,618 @@
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+        },
+        "wall_right_5_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_4_room": {
+            "cls": "Wall"
+        },
+        "wall_front_4_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_4_room": {
+            "cls": "Wall"
+        },
+        "wall_right_4_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_3_room": {
+            "cls": "Wall"
+        },
+        "wall_front_3_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_2_room": {
+            "cls": "Wall"
+        },
+        "wall_front_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_6_room": {
+            "cls": "Wall"
+        },
+        "wall_front_6_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_7_room": {
+            "cls": "Wall"
+        },
+        "wall_front_7_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_3_room": {
+            "cls": "Floor"
+        },
+        "floor_3_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_5_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_6.001_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "sink_main_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "fridgefrenchdoor_main_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_4_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_3_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_1_main_group_1": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_7_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_7_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_7_main_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_1_main_group_1": {
+            "cls": "Dishwasher"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "knifeblock_main_group_1": {
+            "cls": "Accessory"
+        },
+        "papertowel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "stovetop_island_group_1": {
+            "cls": "Stovetop"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "blender_island_group_1": {
+            "cls": "Blender"
+        },
+        "blender_island_group_1_auxiliary_island_group_1": {
+            "cls": "BlenderLid"
+        },
+        "stack_5_island_group_2.001_base": {
+            "cls": "Box"
+        },
+        "stack_5_island_group_2.001_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_island_group_2.001_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_island_group_2.001_base": {
+            "cls": "Box"
+        },
+        "stack_6_island_group_2.001_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_island_group_2.001_2": {
+            "cls": "Drawer"
+        },
+        "stack_7_island_group_2.001_base": {
+            "cls": "Box"
+        },
+        "stack_7_island_group_2.001_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_7_island_group_2.001_2": {
+            "cls": "Drawer"
+        },
+        "stack_8_island_group_2.001_base": {
+            "cls": "Box"
+        },
+        "stack_8_island_group_2.001_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_8_island_group_2.001_2": {
+            "cls": "Drawer"
+        },
+        "counter_1_front_group_1": {
+            "cls": "Counter"
+        },
+        "hingecabinet_2_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_front_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_front_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_front_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_5_front_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_5_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_front_group_1_3": {
+            "cls": "Drawer"
+        },
+        "bottom_front_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_front_group_1_1": {
+            "cls": "Drawer"
+        },
+        "oven_front_group_1": {
+            "cls": "Oven"
+        },
+        "oven_housing_front_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_front_group_1": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_front_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "coffeemachine_front_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_oven_front_group_1": {
+            "cls": "ToasterOven"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Put the non-rotten apple in the blender.",
+    "fixture_refs": {
+        "fridge": "fridgefrenchdoor_main_group_1",
+        "blender": "blender_island_group_1",
+        "counter": "island_island_group_1"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
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+                1.15
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+            "parent_body": "mobilebase0_support"
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+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
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+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
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+            "parent_body": "mobilebase0_support"
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+        "robot0_agentview_right": {
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+                1.05
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+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
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+                -0.5,
+                0,
+                0.95
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+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.500147232124925,
+        -3.69492603186797,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ],
+    "refs": {
+        "chosen_inst": "/root/robocasa/robocasa/models/assets/objects/objaverse/apple/apple_12/model.xml"
+    }
+}

pretrain/composite/ChooseRipeFruit/20250901/lerobot/extras/episode_000040/ep_meta.json

@@ -0,0 +1,461 @@
+{
+    "layout_id": 47,
+    "style_id": 51,
+    "object_cfgs": [
+        {
+            "name": "fruit0",
+            "obj_groups": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_1/model.xml",
+            "placement": {
+                "fixture": "counter_04_front_group_2",
+                "size": [
+                    0.35,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ],
+                "sample_region_kwargs": {
+                    "loc": "left_right",
+                    "ref": "blender_front_group_2",
+                    "min_size": [
+                        0.063,
+                        0.063,
+                        0.0395256393
+                    ]
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "kiwi",
+                    "fruit",
+                    "food",
+                    "in_container"
+                ],
+                "groups": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_1/model.xml",
+                "cat": "kiwi",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_1/model.xml"
+            },
+            "reset_region": {
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+                    0.650076
+                ],
+                "offset": [
+                    -0.19493590049931486,
+                    0.0,
+                    0.4600005
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "fruit1",
+            "obj_groups": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_1/model.xml",
+            "placement": {
+                "fixture": "counter_04_front_group_2",
+                "size": [
+                    0.35,
+                    0.15
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ],
+                "sample_region_kwargs": {
+                    "loc": "left_right",
+                    "ref": "blender_front_group_2",
+                    "min_size": [
+                        0.063,
+                        0.063,
+                        0.0395256393
+                    ]
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "kiwi",
+                    "fruit",
+                    "food",
+                    "in_container"
+                ],
+                "groups": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_1/model.xml",
+                "cat": "kiwi",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_1/model.xml"
+            },
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+                    0.0,
+                    0.4600005
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+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
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+        "wall_main_1_room": {
+            "cls": "Wall"
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+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_5_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_02_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_01_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_6.001_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "hingecabinet_5_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_4_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "sink_right_group_1": {
+            "cls": "Sink"
+        },
+        "counter_03_right_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_right_group_1": {
+            "cls": "Counter"
+        },
+        "stack_05_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_05_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_05_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "box_05_right_group_1": {
+            "cls": "Box"
+        },
+        "dishwasher_1_right_group_1": {
+            "cls": "Dishwasher"
+        },
+        "stack_06_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_06_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_06_right_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_08_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_08_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_08_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "hingecabinet_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_3_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "counter_05_front_group_1": {
+            "cls": "Counter"
+        },
+        "stack_02_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_02_front_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_02_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_01_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_01_front_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_front_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_front_group_1": {
+            "cls": "Toaster"
+        },
+        "fridgesidebyside_main_group_1": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridgesidebyside_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_6_main_group_1": {
+            "cls": "HingeCabinet"
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+}

pretrain/composite/ChooseRipeFruit/20250901/lerobot/extras/episode_000042/ep_meta.json

@@ -0,0 +1,485 @@
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+}

pretrain/composite/ChooseRipeFruit/20250901/lerobot/extras/episode_000046/ep_meta.json

@@ -0,0 +1,400 @@
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+}

pretrain/composite/ChooseRipeFruit/20250901/lerobot/extras/episode_000047/ep_meta.json

@@ -0,0 +1,455 @@
+{
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+}

pretrain/composite/ChooseRipeFruit/20250901/lerobot/extras/episode_000052/ep_meta.json

@@ -0,0 +1,473 @@
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+}

pretrain/composite/ChooseRipeFruit/20250901/lerobot/extras/episode_000054/ep_meta.json

@@ -0,0 +1,545 @@
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+        "fridge_1_front_group_1": {
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+}

pretrain/composite/ChooseRipeFruit/20250901/lerobot/extras/episode_000055/ep_meta.json

@@ -0,0 +1,506 @@
+{
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+    "style_id": 22,
+    "object_cfgs": [
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+}

pretrain/composite/ChooseRipeFruit/20250901/lerobot/extras/episode_000057/ep_meta.json

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pretrain/composite/ChooseRipeFruit/20250901/lerobot/extras/episode_000058/ep_meta.json

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+        },
+        "hood_main_group": {
+            "cls": "Hood"
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+        "cab_corner_1_main_group": {
+            "cls": "Box"
+        },
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+            "cls": "HingeCabinet"
+        },
+        "cab_1_above_main_group": {
+            "cls": "HingeCabinet"
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+            "cls": "SingleCabinet"
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+        "cab_2_above_main_group": {
+            "cls": "SingleCabinet"
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+            "cls": "SingleCabinet"
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+            "cls": "CoffeeMachine"
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+        "toaster_main_group": {
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+            "cls": "Sink"
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+            "cls": "Dishwasher"
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+            "cls": "Box"
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+            "cls": "Drawer"
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+            "cls": "Drawer"
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+            "cls": "HingeCabinet"
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+            "cls": "HingeCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_4_left_group": {
+            "cls": "SingleCabinet"
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+        "cab_5_left_group": {
+            "cls": "HingeCabinet"
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+        "cab_6_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "paper_towel_left_group": {
+            "cls": "Accessory"
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+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
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+        "counter_1_right_group": {
+            "cls": "Counter"
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+        "stack_1_right_group_base": {
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+        "stack_1_right_group_1": {
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+            "cls": "FridgeFrenchDoor"
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+            "cls": "HousingCabinet"
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+            "cls": "Box"
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+            "cls": "HingeCabinet"
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+        "middle_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "counter_2_right_group": {
+            "cls": "Counter"
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+        "stack_2_right_group_base": {
+            "cls": "Box"
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+        "stack_2_right_group_1": {
+            "cls": "Drawer"
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+        "stack_2_right_group_2": {
+            "cls": "Drawer"
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+        "stack_2_right_group_3": {
+            "cls": "Drawer"
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+            "cls": "Drawer"
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+            "cls": "HingeCabinet"
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+        "stack_3_right_group_2": {
+            "cls": "Drawer"
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+            "cls": "Drawer"
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+        "stack_4_right_group_2": {
+            "cls": "Drawer"
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+        "stack_4_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_right_group_4": {
+            "cls": "Drawer"
+        },
+        "plant_right_group": {
+            "cls": "Accessory"
+        },
+        "blender_right_group": {
+            "cls": "Blender"
+        },
+        "blender_right_group_auxiliary_right_group": {
+            "cls": "BlenderLid"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_island_group_1_2": {
+            "cls": "Drawer"
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+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "SingleCabinet"
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+        "stack_2_island_group_1_2": {
+            "cls": "Drawer"
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+        "stack_3_island_group_1_base": {
+            "cls": "Box"
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+        "stack_3_island_group_1_1": {
+            "cls": "SingleCabinet"
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+        "stack_3_island_group_1_2": {
+            "cls": "Drawer"
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+        "stack_4_island_group_1_base": {
+            "cls": "Box"
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+        "stack_4_island_group_1_1": {
+            "cls": "SingleCabinet"
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+        "stack_4_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_2_base": {
+            "cls": "Box"
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+        "stack_1_island_group_2_1": {
+            "cls": "SingleCabinet"
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+            "cls": "Drawer"
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+        "stack_2_island_group_2_base": {
+            "cls": "Box"
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+            "cls": "SingleCabinet"
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+    "lang": "Put the non-rotten apple in the blender.",
+    "fixture_refs": {
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+        "blender": "blender_right_group",
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+        "chosen_inst": "/root/robocasa/robocasa/models/assets/objects/objaverse/apple/apple_17/model.xml"
+    }
+}

pretrain/composite/ChooseRipeFruit/20250901/lerobot/extras/episode_000061/ep_meta.json

@@ -0,0 +1,438 @@
+{
+    "layout_id": 11,
+    "style_id": 40,
+    "object_cfgs": [
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+            "name": "fruit0",
+            "obj_groups": "/root/robocasa/robocasa/models/assets/objects/objaverse/apple/apple_17/model.xml",
+            "placement": {
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+                    0.15
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+                "sample_region_kwargs": {
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+                    "min_size": [
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+                        0.06363277830000001,
+                        0.058652315820000016
+                    ]
+                }
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+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "apple",
+                    "fruit",
+                    "food",
+                    "in_container",
+                    "food_set1",
+                    "group1"
+                ],
+                "groups": "/root/robocasa/robocasa/models/assets/objects/objaverse/apple/apple_17/model.xml",
+                "cat": "apple",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/apple/apple_17/model.xml"
+            },
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+                    0.46
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+                "name": "geom_0"
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+        {
+            "name": "fruit1",
+            "obj_groups": "/root/robocasa/robocasa/models/assets/objects/objaverse/apple/apple_17/model.xml",
+            "placement": {
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+                    0.15
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+                "pos": [
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+                "sample_region_kwargs": {
+                    "loc": "left_right",
+                    "ref": "blender_main_group",
+                    "min_size": [
+                        0.06363273294,
+                        0.06363277830000001,
+                        0.058652315820000016
+                    ]
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "apple",
+                    "fruit",
+                    "food",
+                    "in_container",
+                    "food_set1",
+                    "group1"
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+                "groups": "/root/robocasa/robocasa/models/assets/objects/objaverse/apple/apple_17/model.xml",
+                "cat": "apple",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/apple/apple_17/model.xml"
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+        "wall_left_2_backing_room": {
+            "cls": "Wall"
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+        "wall_left_3_room": {
+            "cls": "Wall"
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+        "wall_left_3_backing_room": {
+            "cls": "Wall"
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+        "floor_1_room": {
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+        "floor_1_backing_room": {
+            "cls": "Floor"
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+        "floor_2_room": {
+            "cls": "Floor"
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+        "floor_2_backing_room": {
+            "cls": "Floor"
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+        "wall_accessory_1_room": {
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+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
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+        "light_switch_room": {
+            "cls": "WallAccessory"
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+            "cls": "Stool"
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+        "counter_1_main_group": {
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+        "stove_1_main_group": {
+            "cls": "Stove"
+        },
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+            "cls": "Counter"
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+            "cls": "Drawer"
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+            "cls": "Drawer"
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+            "cls": "SingleCabinet"
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+        "stack_4_main_group_3": {
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+        "stack_4_main_group_4": {
+            "cls": "Drawer"
+        },
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+        "stack_5_main_group_1": {
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+            "cls": "SingleCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "HingeCabinet"
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+        "counter_stack_main_group_base": {
+            "cls": "Box"
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+            "cls": "HingeCabinet"
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+        "blender_main_group_auxiliary_main_group": {
+            "cls": "BlenderLid"
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+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
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+        "counter_left_group": {
+            "cls": "Counter"
+        },
+        "panel_cab_left_group_base": {
+            "cls": "Box"
+        },
+        "panel_cab_left_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "SingleCabinet"
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+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "box_left_group": {
+            "cls": "Box"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
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+        "paper_towel_left_group": {
+            "cls": "Accessory"
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+        "box_right_group": {
+            "cls": "Box"
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+            "cls": "FridgeBottomFreezer"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
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+        "cab_1_right_group": {
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+        "dining_dining_group": {
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+    "gen_textures": {},
+    "lang": "Put the non-rotten apple in the blender.",
+    "fixture_refs": {
+        "fridge": "fridge_right_group",
+        "blender": "blender_main_group",
+        "counter": "counter_1_main_group"
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pretrain/composite/ChooseRipeFruit/20250901/lerobot/extras/episode_000065/ep_meta.json

@@ -0,0 +1,545 @@
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+}

pretrain/composite/ChooseRipeFruit/20250901/lerobot/extras/episode_000067/ep_meta.json

@@ -0,0 +1,467 @@
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+}

pretrain/composite/ChooseRipeFruit/20250901/lerobot/extras/episode_000068/ep_meta.json

@@ -0,0 +1,432 @@
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+}

pretrain/composite/ChooseRipeFruit/20250901/lerobot/extras/episode_000070/ep_meta.json

@@ -0,0 +1,455 @@
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+            "cls": "Blender"
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+        "toaster_right_group_1": {
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+        "blender_right_group_1_auxiliary_right_group_1": {
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+        "stove_main_group_3": {
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+            "cls": "Microwave"
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+    }
+}

pretrain/composite/ChooseRipeFruit/20250901/lerobot/extras/episode_000081/ep_meta.json

@@ -0,0 +1,526 @@
+{
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+            "obj_groups": "/root/robocasa/robocasa/models/assets/objects/objaverse/orange/orange_12/model.xml",
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+            "cls": "Microwave"
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pretrain/composite/ChooseRipeFruit/20250901/lerobot/extras/episode_000082/ep_meta.json

@@ -0,0 +1,510 @@
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pretrain/composite/ChooseRipeFruit/20250901/lerobot/extras/episode_000085/ep_meta.json

@@ -0,0 +1,443 @@
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+    }
+}

pretrain/composite/ChooseRipeFruit/20250901/lerobot/extras/episode_000088/ep_meta.json

@@ -0,0 +1,553 @@
+{
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pretrain/composite/ChooseRipeFruit/20250901/lerobot/extras/episode_000089/ep_meta.json

@@ -0,0 +1,476 @@
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+}

pretrain/composite/ChooseRipeFruit/20250901/lerobot/extras/episode_000093/ep_meta.json

@@ -0,0 +1,434 @@
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+}

pretrain/composite/ChooseRipeFruit/20250901/lerobot/extras/episode_000096/ep_meta.json

@@ -0,0 +1,422 @@
+{
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+}

pretrain/composite/ChooseRipeFruit/20250901/lerobot/extras/episode_000097/ep_meta.json

@@ -0,0 +1,455 @@
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+}

pretrain/composite/ChooseRipeFruit/20250901/lerobot/extras/episode_000098/ep_meta.json

@@ -0,0 +1,526 @@
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+}

pretrain/composite/ChooseRipeFruit/20250901/lerobot/extras/episode_000104/ep_meta.json

@@ -0,0 +1,416 @@
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+}

pretrain/composite/ChooseRipeFruit/20250901/lerobot/extras/episode_000106/ep_meta.json

@@ -0,0 +1,614 @@
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+                        0.07254297791999997,
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+                    "all",
+                    "kiwi",
+                    "fruit",
+                    "food",
+                    "in_container"
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+                "groups": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_0/model.xml",
+                "cat": "kiwi",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_0/model.xml"
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+        "wall_right_1_backing_room": {
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+        "wall_main_2_room": {
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+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_room": {
+            "cls": "Wall"
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+        "wall_right_2_backing_room": {
+            "cls": "Wall"
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+        "wall_front_1_room": {
+            "cls": "Wall"
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+        "wall_front_1_backing_room": {
+            "cls": "Wall"
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+        "wall_front_5_room": {
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+        "wall_front_5_backing_room": {
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+        "wall_right_5_room": {
+            "cls": "Wall"
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+        "wall_right_5_backing_room": {
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+            "cls": "Wall"
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+        "floor_1_backing_room": {
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+            "cls": "Floor"
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+            "cls": "Floor"
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+            "cls": "Floor"
+        },
+        "floor_3_backing_room": {
+            "cls": "Floor"
+        },
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+            "cls": "WallAccessory"
+        },
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+            "cls": "WallAccessory"
+        },
+        "wallaccessory_4_room": {
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+        },
+        "wallaccessory_3_room": {
+            "cls": "WallAccessory"
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+            "cls": "WallAccessory"
+        },
+        "wallaccessory_5_room": {
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+        "wallaccessory_6.001_room": {
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+        "window_group_room": {
+            "cls": "Window"
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+        "sink_main_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "fridgefrenchdoor_main_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_4_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_1_main_group_1": {
+            "cls": "SingleCabinet"
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+        "singlecabinet_2_main_group_1": {
+            "cls": "SingleCabinet"
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+        "singlecabinet_3_main_group_1": {
+            "cls": "SingleCabinet"
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+        "stack_1_main_group_1_base": {
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+        "stack_1_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_main_group_1_2": {
+            "cls": "Drawer"
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+        "stack_2_main_group_1_base": {
+            "cls": "Box"
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+        "stack_2_main_group_1_1": {
+            "cls": "SingleCabinet"
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+        "stack_2_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_1_main_group_1": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_7_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_7_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_7_main_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_1_main_group_1": {
+            "cls": "Dishwasher"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "knifeblock_main_group_1": {
+            "cls": "Accessory"
+        },
+        "papertowel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "stovetop_island_group_1": {
+            "cls": "Stovetop"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "blender_island_group_1": {
+            "cls": "Blender"
+        },
+        "blender_island_group_1_auxiliary_island_group_1": {
+            "cls": "BlenderLid"
+        },
+        "stack_5_island_group_2.001_base": {
+            "cls": "Box"
+        },
+        "stack_5_island_group_2.001_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_island_group_2.001_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_island_group_2.001_base": {
+            "cls": "Box"
+        },
+        "stack_6_island_group_2.001_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_island_group_2.001_2": {
+            "cls": "Drawer"
+        },
+        "stack_7_island_group_2.001_base": {
+            "cls": "Box"
+        },
+        "stack_7_island_group_2.001_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_7_island_group_2.001_2": {
+            "cls": "Drawer"
+        },
+        "stack_8_island_group_2.001_base": {
+            "cls": "Box"
+        },
+        "stack_8_island_group_2.001_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_8_island_group_2.001_2": {
+            "cls": "Drawer"
+        },
+        "counter_1_front_group_1": {
+            "cls": "Counter"
+        },
+        "hingecabinet_2_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_front_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_front_group_1_2": {
+            "cls": "Drawer"
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+        "stack_3_front_group_1_1": {
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+        },
+        "stack_3_front_group_1_2": {
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+        "stack_4_front_group_1_base": {
+            "cls": "Box"
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+        "stack_4_front_group_1_1": {
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+        "stack_4_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_5_front_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_5_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_front_group_1_3": {
+            "cls": "Drawer"
+        },
+        "bottom_front_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_front_group_1_1": {
+            "cls": "Drawer"
+        },
+        "oven_front_group_1": {
+            "cls": "Oven"
+        },
+        "oven_housing_front_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_front_group_1": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_front_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "coffeemachine_front_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_oven_front_group_1": {
+            "cls": "ToasterOven"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Put the non-rotten kiwi in the blender.",
+    "fixture_refs": {
+        "fridge": "fridgefrenchdoor_main_group_1",
+        "blender": "blender_island_group_1",
+        "counter": "island_island_group_1"
+    },
+    "cam_configs": {
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+            "parent_body": "mobilebase0_support"
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+            "parent_body": "mobilebase0_support"
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+        "robot0_eye_in_hand": {
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+            "quat": [
+                0,
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+                0.707107,
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+            "parent_body": "robot0_right_hand"
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+    },
+    "init_robot_base_pos": [
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+    "refs": {
+        "chosen_inst": "/root/robocasa/robocasa/models/assets/objects/objaverse/kiwi/kiwi_0/model.xml"
+    }
+}

pretrain/composite/CoolBakedCake/20250729/lerobot/extras/dataset_meta.json

@@ -0,0 +1,390 @@
+{
+    "date": "7-30-2025",
+    "env": "CoolBakedCake",
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+}

pretrain/composite/CoolBakedCake/20250729/lerobot/extras/episode_000000/ep_meta.json

@@ -0,0 +1,486 @@
+{
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+    "style_id": 22,
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+                "sample_args": {
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+            "type": "object",
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+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cake/cake_4/model.xml"
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+            "obj_groups": "plate",
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+            "cls": "Wall"
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+        "stack_3_right_group_1_2": {
+            "cls": "Drawer"
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+        "stack_3_right_group_1_3": {
+            "cls": "PanelCabinet"
+        },
+        "stack_5_right_group_1_base": {
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+        },
+        "stack_5_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_right_group_1_2": {
+            "cls": "Drawer"
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+        "toaster_right_group_1": {
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+        "papertowel_right_group_1": {
+            "cls": "Accessory"
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+        "toaster_oven_right_group_1": {
+            "cls": "ToasterOven"
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+        "sink_island_group_1": {
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+}

pretrain/composite/CoolBakedCake/20250729/lerobot/extras/episode_000001/ep_meta.json

@@ -0,0 +1,540 @@
+{
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+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_3_room": {
+            "cls": "Floor"
+        },
+        "floor_3_backing_room": {
+            "cls": "Floor"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_5_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_6_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "fridge_1_main_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_1_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "bottom_main_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "oven_main_group_1": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group_1": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "stovetop_1_left_group_1": {
+            "cls": "Stovetop"
+        },
+        "counter_1_left_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_2_left_group_1_base": {
+            "cls": "Box"
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+        "stack_2_left_group_1_1": {
+            "cls": "HingeCabinet"
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+        "stack_2_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "hood_left_group_1": {
+            "cls": "Hood"
+        },
+        "cab_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "counter_1_front_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_front_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_front_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_oven_front_group_1": {
+            "cls": "ToasterOven"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "panel_stack_island_group_base": {
+            "cls": "Box"
+        },
+        "panel_stack_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "box_island_group": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_2_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_island_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "paper_towel_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the baked cake out of the oven and place it on the plate for cooling. Then close the oven door.",
+    "fixture_refs": {
+        "oven": "oven_main_group_1",
+        "counter": "counter_1_main_group_1"
+    },
+    "cam_configs": {
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+        "robot0_eye_in_hand": {
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+    "init_robot_base_pos": [
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+        1.5707963267948966
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+}

pretrain/composite/CoolBakedCake/20250729/lerobot/extras/episode_000002/ep_meta.json

@@ -0,0 +1,405 @@
+{
+    "layout_id": 37,
+    "style_id": 53,
+    "object_cfgs": [
+        {
+            "name": "cake_container",
+            "obj_groups": "oven_tray",
+            "placement": {
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+                "size": [
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+                "try_to_place_in": "oven_tray"
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+            "info": {
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+                    "all",
+                    "oven_tray",
+                    "receptacle"
+                ],
+                "groups": [
+                    "oven_tray"
+                ],
+                "cat": "oven_tray",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/oven_tray/OvenTray006/model.xml"
+            },
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+                "name": "rack0"
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+        },
+        {
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+            "obj_groups": "cake",
+            "graspable": true,
+            "placement": {
+                "size": [
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+                    0.01
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+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "cake_container",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "cake",
+                    "sweets",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "cake"
+                ],
+                "cat": "cake",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cake/cake_3/model.xml"
+            }
+        },
+        {
+            "name": "container",
+            "obj_groups": "plate",
+            "placement": {
+                "fixture": "counter_1_left_group_1",
+                "sample_region_kwargs": {
+                    "ref": "oven_left_group_1",
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+                        0.24590248636500003,
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+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
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+                "groups": [
+                    "plate"
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+                "cat": "plate",
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+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml"
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+            }
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+        "wall_left_1_room": {
+            "cls": "Wall"
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+        "wall_left_1_backing_room": {
+            "cls": "Wall"
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+            "cls": "Wall"
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+        "wall_main_2_backing_room": {
+            "cls": "Wall"
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+        "wall_main_3_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
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+        "floor_1_backing_room": {
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+        },
+        "wallaccessory_1_room": {
+            "cls": "WallAccessory"
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+        "wallaccessory_2_room": {
+            "cls": "WallAccessory"
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+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
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+        "stovetop_left_group_1": {
+            "cls": "Stovetop"
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+            "cls": "Counter"
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+        "hingecabinet_2_left_group_1": {
+            "cls": "HingeCabinet"
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+        "hingecabinet_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_left_group_1": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cube_1_left_group_1": {
+            "cls": "Box"
+        },
+        "fridgefrenchdoor_left_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "bottom_left_group_1_base": {
+            "cls": "Box"
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+        "bottom_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "oven_left_group_1": {
+            "cls": "Oven"
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+        "oven_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_cabinet_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "top_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_1_base": {
+            "cls": "Box"
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+        "stack_2_left_group_1_1": {
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+        },
+        "stack_2_left_group_1_2": {
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+        },
+        "stack_2_left_group_1_3": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_1_base": {
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+        "stack_3_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_1_2": {
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+        },
+        "papertowel_left_group_1": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_left_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_left_group_1": {
+            "cls": "Toaster"
+        },
+        "sink_island_group_1": {
+            "cls": "Sink"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "cube_5_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_3_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_4_island_group_1": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_island_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_1_island_group_1": {
+            "cls": "Dishwasher"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the baked cake out of the oven and place it on the plate for cooling. Then close the oven door.",
+    "fixture_refs": {
+        "oven": "oven_left_group_1",
+        "counter": "counter_1_left_group_1"
+    },
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+}

pretrain/composite/CoolBakedCake/20250729/lerobot/extras/episode_000004/ep_meta.json

@@ -0,0 +1,567 @@
+{
+    "layout_id": 29,
+    "style_id": 16,
+    "object_cfgs": [
+        {
+            "name": "cake_container",
+            "obj_groups": "oven_tray",
+            "placement": {
+                "fixture": "oven_main_group",
+                "size": [
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+                "try_to_place_in": "oven_tray"
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "oven_tray",
+                    "receptacle"
+                ],
+                "groups": [
+                    "oven_tray"
+                ],
+                "cat": "oven_tray",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/oven_tray/OvenTray006/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.0006130230536490755,
+                    -0.0013563273802693204,
+                    -0.1270098929936964
+                ],
+                "size": [
+                    0.520350353324301,
+                    0.35040553570688304
+                ],
+                "height": 0.10692935595419578,
+                "name": "rack0"
+            }
+        },
+        {
+            "name": "cake",
+            "obj_groups": "cake",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.01,
+                    0.01
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "cake_container",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "cake",
+                    "sweets",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "cake"
+                ],
+                "cat": "cake",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cake/cake_4/model.xml"
+            }
+        },
+        {
+            "name": "container",
+            "obj_groups": "plate",
+            "placement": {
+                "fixture": "counter_1_main_group",
+                "sample_region_kwargs": {
+                    "ref": "oven_main_group",
+                    "min_size": [
+                        0.24709981284000002,
+                        0.24709756509000005,
+                        0.021416774287499996
+                    ]
+                },
+                "size": [
+                    0.3,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.8,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_4_room": {
+            "cls": "Wall"
+        },
+        "wall_left_4_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_3_room": {
+            "cls": "Wall"
+        },
+        "wall_left_3_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "light_switch_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stool_4_room": {
+            "cls": "Stool"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "middle_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "dishwasher_main_group": {
+            "cls": "Dishwasher"
+        },
+        "panel_stack_main_group_base": {
+            "cls": "Box"
+        },
+        "panel_stack_main_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_4_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_5_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_6_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "stovetop_left_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "PanelCabinet"
+        },
+        "stack_4_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_5_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_left_group_3": {
+            "cls": "Drawer"
+        },
+        "hood_left_group": {
+            "cls": "Hood"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_4_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_left_group": {
+            "cls": "Toaster"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "panel_box_1_island_group_base": {
+            "cls": "Box"
+        },
+        "panel_box_1_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_island_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_island_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_5_island_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_island_group_3": {
+            "cls": "Drawer"
+        },
+        "panel_cab_2_island_group_base": {
+            "cls": "Box"
+        },
+        "panel_cab_2_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "box_island_group": {
+            "cls": "Box"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the baked cake out of the oven and place it on the plate for cooling. Then close the oven door.",
+    "fixture_refs": {
+        "oven": "oven_main_group",
+        "counter": "counter_1_main_group"
+    },
+    "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": [
+        0.27740653654023006,
+        -1.0980693485511788,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}

pretrain/composite/CoolBakedCake/20250729/lerobot/extras/episode_000008/ep_meta.json

@@ -0,0 +1,525 @@
+{
+    "layout_id": 35,
+    "style_id": 27,
+    "object_cfgs": [
+        {
+            "name": "cake_container",
+            "obj_groups": "oven_tray",
+            "placement": {
+                "fixture": "oven_left_group_1",
+                "size": [
+                    1.0,
+                    0.45
+                ],
+                "pos": [
+                    0,
+                    -1.0
+                ],
+                "try_to_place_in": "oven_tray"
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "oven_tray",
+                    "receptacle"
+                ],
+                "groups": [
+                    "oven_tray"
+                ],
+                "cat": "oven_tray",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/oven_tray/OvenTray002/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.001484587893097078,
+                    0.007471145706877291,
+                    -0.12796236999809324
+                ],
+                "size": [
+                    0.5280805688426562,
+                    0.4704484027308083
+                ],
+                "height": 0.11289428349840974,
+                "name": "rack0"
+            }
+        },
+        {
+            "name": "cake",
+            "obj_groups": "cake",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.01,
+                    0.01
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "cake_container",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "cake",
+                    "sweets",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "cake"
+                ],
+                "cat": "cake",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cake/cake_3/model.xml"
+            }
+        },
+        {
+            "name": "container",
+            "obj_groups": "plate",
+            "placement": {
+                "fixture": "counter_1_left_group_1",
+                "sample_region_kwargs": {
+                    "ref": "oven_left_group_1",
+                    "min_size": [
+                        0.24499104372000002,
+                        0.24499081394999997,
+                        0.02685923388
+                    ]
+                },
+                "size": [
+                    0.3,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml"
+            },
+            "reset_region": {
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+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.002_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.003_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "box_1_main_group_1": {
+            "cls": "Box"
+        },
+        "hingecabinet_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "fridgefrenchdoor_main_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "knifeblock_main_group_1": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "sink_right_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "counter_2_right_group_1": {
+            "cls": "Counter"
+        },
+        "singlecabinet_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_2_right_group_1": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_1_right_group_1": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_right_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_1_right_group_1": {
+            "cls": "Dishwasher"
+        },
+        "cube_3_right_group_1": {
+            "cls": "Box"
+        },
+        "stovetop_left_group_1": {
+            "cls": "Stovetop"
+        },
+        "counter_1_left_group_1": {
+            "cls": "Counter"
+        },
+        "hingecabinet_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "bottom_left_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "oven_left_group_1": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group_1": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "coffeemachine_left_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_oven_left_group_1": {
+            "cls": "ToasterOven"
+        },
+        "counter_1_island_group": {
+            "cls": "Counter"
+        },
+        "stack_2_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "stack_2_dining_area_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_dining_area_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_dining_area_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_dining_area_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_dining_area_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_dining_area_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_dining_area_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_dining_area_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_dining_area_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_dining_area_group_2": {
+            "cls": "Drawer"
+        },
+        "stool_3_stool_group_1": {
+            "cls": "Stool"
+        },
+        "stool_2_stool_group_1": {
+            "cls": "Stool"
+        },
+        "stool_1_stool_group_1": {
+            "cls": "Stool"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the baked cake out of the oven and place it on the plate for cooling. Then close the oven door.",
+    "fixture_refs": {
+        "oven": "oven_left_group_1",
+        "counter": "counter_1_left_group_1"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
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+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
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+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
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+                1.05
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
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+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        0.9443917748065985,
+        -3.058432284488959,
+        0.0
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+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415924507432367
+    ]
+}

pretrain/composite/CoolBakedCake/20250729/lerobot/extras/episode_000011/ep_meta.json

@@ -0,0 +1,501 @@
+{
+    "layout_id": 18,
+    "style_id": 40,
+    "object_cfgs": [
+        {
+            "name": "cake_container",
+            "obj_groups": "oven_tray",
+            "placement": {
+                "fixture": "oven_main_group",
+                "size": [
+                    1.0,
+                    0.45
+                ],
+                "pos": [
+                    0,
+                    -1.0
+                ],
+                "try_to_place_in": "oven_tray"
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "oven_tray",
+                    "receptacle"
+                ],
+                "groups": [
+                    "oven_tray"
+                ],
+                "cat": "oven_tray",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/oven_tray/OvenTray001/model.xml"
+            },
+            "reset_region": {
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+                    0.02838666567039992,
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+                "name": "rack0"
+            }
+        },
+        {
+            "name": "cake",
+            "obj_groups": "cake",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.01,
+                    0.01
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+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "cake_container",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "cake",
+                    "sweets",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "cake"
+                ],
+                "cat": "cake",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cake/cake_1/model.xml"
+            }
+        },
+        {
+            "name": "container",
+            "obj_groups": "plate",
+            "placement": {
+                "fixture": "counter_1_main_group",
+                "sample_region_kwargs": {
+                    "ref": "oven_main_group",
+                    "min_size": [
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+                        0.24709756509000005,
+                        0.021416774287499996
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+                    0.3
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+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml"
+            },
+            "reset_region": {
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+                    0.65
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+                "offset": [
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+                    0.0,
+                    0.46
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+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_main_room": {
+            "cls": "Wall"
+        },
+        "wall_main_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_3_room": {
+            "cls": "Wall"
+        },
+        "wall_left_3_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "light_switch_1_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_4_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_5_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_6_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_7_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "window_group_2_room": {
+            "cls": "Window"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "box_1_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "stovetop_left_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_5": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_6": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "PanelCabinet"
+        },
+        "stack_4_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_5": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_6": {
+            "cls": "Drawer"
+        },
+        "stack_5_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "hood_left_group": {
+            "cls": "Hood"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "paper_towel_left_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "sink_1_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "box_1_right_group": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_1_right_group": {
+            "cls": "Dishwasher"
+        },
+        "panel_stack_right_group_base": {
+            "cls": "Box"
+        },
+        "panel_stack_right_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "wall_stack_right_group_base": {
+            "cls": "Box"
+        },
+        "wall_stack_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the baked cake out of the oven and place it on the plate for cooling. Then close the oven door.",
+    "fixture_refs": {
+        "oven": "oven_main_group",
+        "counter": "counter_1_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
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+                0.0,
+                1.15
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+        "robot0_agentview_left": {
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+                0.35,
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+                0.29935253,
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+                "fovy": "60"
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+            "parent_body": "mobilebase0_support"
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+            "parent_body": "mobilebase0_support"
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+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
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+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
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+            "parent_body": "robot0_right_hand"
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+    "init_robot_base_pos": [
+        0.5043557591579843,
+        -1.1416144817363663,
+        0.0
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+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}

pretrain/composite/CoolBakedCake/20250729/lerobot/extras/episode_000014/ep_meta.json

@@ -0,0 +1,525 @@
+{
+    "layout_id": 35,
+    "style_id": 48,
+    "object_cfgs": [
+        {
+            "name": "cake_container",
+            "obj_groups": "oven_tray",
+            "placement": {
+                "fixture": "oven_left_group_1",
+                "size": [
+                    1.0,
+                    0.45
+                ],
+                "pos": [
+                    0,
+                    -1.0
+                ],
+                "try_to_place_in": "oven_tray"
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "oven_tray",
+                    "receptacle"
+                ],
+                "groups": [
+                    "oven_tray"
+                ],
+                "cat": "oven_tray",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/oven_tray/OvenTray004/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0010894446941539515,
+                    0.005019570209183158,
+                    -0.1255557820558667
+                ],
+                "size": [
+                    0.5243074901861565,
+                    0.46667043121194707
+                ],
+                "height": 0.11004747311749807,
+                "name": "rack0"
+            }
+        },
+        {
+            "name": "cake",
+            "obj_groups": "cake",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.01,
+                    0.01
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "cake_container",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "cake",
+                    "sweets",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "cake"
+                ],
+                "cat": "cake",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cake/cake_1/model.xml"
+            }
+        },
+        {
+            "name": "container",
+            "obj_groups": "plate",
+            "placement": {
+                "fixture": "counter_1_left_group_1",
+                "sample_region_kwargs": {
+                    "ref": "oven_left_group_1",
+                    "min_size": [
+                        0.245914494345,
+                        0.24590248636500003,
+                        0.033029782155
+                    ]
+                },
+                "size": [
+                    0.3,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.0304311607387127,
+                    0.65
+                ],
+                "offset": [
+                    -0.8647844196306436,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.002_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.003_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "box_1_main_group_1": {
+            "cls": "Box"
+        },
+        "hingecabinet_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "fridgefrenchdoor_main_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "knifeblock_main_group_1": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "sink_right_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "counter_2_right_group_1": {
+            "cls": "Counter"
+        },
+        "singlecabinet_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_2_right_group_1": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_1_right_group_1": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_right_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_1_right_group_1": {
+            "cls": "Dishwasher"
+        },
+        "cube_3_right_group_1": {
+            "cls": "Box"
+        },
+        "stovetop_left_group_1": {
+            "cls": "Stovetop"
+        },
+        "counter_1_left_group_1": {
+            "cls": "Counter"
+        },
+        "hingecabinet_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "bottom_left_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "oven_left_group_1": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group_1": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "coffeemachine_left_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_oven_left_group_1": {
+            "cls": "ToasterOven"
+        },
+        "counter_1_island_group": {
+            "cls": "Counter"
+        },
+        "stack_2_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "stack_2_dining_area_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_dining_area_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_dining_area_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_dining_area_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_dining_area_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_dining_area_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_dining_area_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_dining_area_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_dining_area_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_dining_area_group_2": {
+            "cls": "Drawer"
+        },
+        "stool_3_stool_group_1": {
+            "cls": "Stool"
+        },
+        "stool_2_stool_group_1": {
+            "cls": "Stool"
+        },
+        "stool_1_stool_group_1": {
+            "cls": "Stool"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the baked cake out of the oven and place it on the plate for cooling. Then close the oven door.",
+    "fixture_refs": {
+        "oven": "oven_left_group_1",
+        "counter": "counter_1_left_group_1"
+    },
+    "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": [
+        0.9923903488130108,
+        -3.2457204060426834,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415924507432367
+    ]
+}

pretrain/composite/CoolBakedCake/20250729/lerobot/extras/episode_000018/ep_meta.json

@@ -0,0 +1,405 @@
+{
+    "layout_id": 37,
+    "style_id": 17,
+    "object_cfgs": [
+        {
+            "name": "cake_container",
+            "obj_groups": "oven_tray",
+            "placement": {
+                "fixture": "oven_left_group_1",
+                "size": [
+                    1.0,
+                    0.45
+                ],
+                "pos": [
+                    0,
+                    -1.0
+                ],
+                "try_to_place_in": "oven_tray"
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "oven_tray",
+                    "receptacle"
+                ],
+                "groups": [
+                    "oven_tray"
+                ],
+                "cat": "oven_tray",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/oven_tray/OvenTray001/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0014414786440455352,
+                    0.013877722213718621,
+                    -0.13888790037735682
+                ],
+                "size": [
+                    0.5313637152962617,
+                    0.3602232335613603
+                ],
+                "height": 0.13790049117621658,
+                "name": "rack0"
+            }
+        },
+        {
+            "name": "cake",
+            "obj_groups": "cake",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.01,
+                    0.01
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "cake_container",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "cake",
+                    "sweets",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "cake"
+                ],
+                "cat": "cake",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cake/cake_5/model.xml"
+            }
+        },
+        {
+            "name": "container",
+            "obj_groups": "plate",
+            "placement": {
+                "fixture": "counter_1_left_group_1",
+                "sample_region_kwargs": {
+                    "ref": "oven_left_group_1",
+                    "min_size": [
+                        0.244743326685,
+                        0.24474403597500002,
+                        0.023217144615000004
+                    ]
+                },
+                "size": [
+                    0.3,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml"
+            },
+            "reset_region": {
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+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_left_group_1": {
+            "cls": "Stovetop"
+        },
+        "counter_1_left_group_1": {
+            "cls": "Counter"
+        },
+        "hingecabinet_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_left_group_1": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cube_1_left_group_1": {
+            "cls": "Box"
+        },
+        "fridgefrenchdoor_left_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "bottom_left_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "oven_left_group_1": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_cabinet_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "top_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_1_3": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "papertowel_left_group_1": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_left_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_left_group_1": {
+            "cls": "Toaster"
+        },
+        "sink_island_group_1": {
+            "cls": "Sink"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "cube_5_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_3_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_4_island_group_1": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_island_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_1_island_group_1": {
+            "cls": "Dishwasher"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the baked cake out of the oven and place it on the plate for cooling. Then close the oven door.",
+    "fixture_refs": {
+        "oven": "oven_left_group_1",
+        "counter": "counter_1_left_group_1"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
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+        "robot0_eye_in_hand": {
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+                0.707107,
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+    "init_robot_base_pos": [
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+        3.1412906566438026
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+}

pretrain/composite/CoolBakedCake/20250729/lerobot/extras/episode_000024/ep_meta.json

@@ -0,0 +1,567 @@
+{
+    "layout_id": 29,
+    "style_id": 44,
+    "object_cfgs": [
+        {
+            "name": "cake_container",
+            "obj_groups": "oven_tray",
+            "placement": {
+                "fixture": "oven_main_group",
+                "size": [
+                    1.0,
+                    0.45
+                ],
+                "pos": [
+                    0,
+                    -1.0
+                ],
+                "try_to_place_in": "oven_tray"
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "oven_tray",
+                    "receptacle"
+                ],
+                "groups": [
+                    "oven_tray"
+                ],
+                "cat": "oven_tray",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/oven_tray/OvenTray002/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0014691511122125883,
+                    -0.05081778141778559,
+                    -0.04127909470065158
+                ],
+                "size": [
+                    0.47210640443202934,
+                    0.38620190826223266
+                ],
+                "height": 0.15978551137025446,
+                "name": "rack0"
+            }
+        },
+        {
+            "name": "cake",
+            "obj_groups": "cake",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.01,
+                    0.01
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "cake_container",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "cake",
+                    "sweets",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "cake"
+                ],
+                "cat": "cake",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cake/cake_3/model.xml"
+            }
+        },
+        {
+            "name": "container",
+            "obj_groups": "plate",
+            "placement": {
+                "fixture": "counter_1_main_group",
+                "sample_region_kwargs": {
+                    "ref": "oven_main_group",
+                    "min_size": [
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+                        0.24547526901,
+                        0.01497314187
+                    ]
+                },
+                "size": [
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+                    0.3
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+                "pos": [
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+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml"
+            },
+            "reset_region": {
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+                    0.65
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+                    0.0,
+                    0.46
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+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_4_room": {
+            "cls": "Wall"
+        },
+        "wall_left_4_backing_room": {
+            "cls": "Wall"
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+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_3_room": {
+            "cls": "Wall"
+        },
+        "wall_left_3_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "light_switch_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stool_4_room": {
+            "cls": "Stool"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
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+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "middle_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "dishwasher_main_group": {
+            "cls": "Dishwasher"
+        },
+        "panel_stack_main_group_base": {
+            "cls": "Box"
+        },
+        "panel_stack_main_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_4_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_5_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_6_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "stovetop_left_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "PanelCabinet"
+        },
+        "stack_4_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_3": {
+            "cls": "Drawer"
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+        "stack_5_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_5_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_left_group_3": {
+            "cls": "Drawer"
+        },
+        "hood_left_group": {
+            "cls": "Hood"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
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+        "cab_4_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_left_group": {
+            "cls": "Toaster"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "panel_box_1_island_group_base": {
+            "cls": "Box"
+        },
+        "panel_box_1_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "stack_1_island_group_base": {
+            "cls": "Box"
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+        "stack_1_island_group_1": {
+            "cls": "Drawer"
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+        "stack_1_island_group_2": {
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+        "stack_1_island_group_3": {
+            "cls": "Drawer"
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+        "stack_2_island_group_base": {
+            "cls": "Box"
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+            "cls": "SingleCabinet"
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+        "stack_3_island_group_1": {
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+            "cls": "SingleCabinet"
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+            "cls": "Box"
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+        "stack_5_island_group_3": {
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+            "cls": "PanelCabinet"
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+        "box_island_group": {
+            "cls": "Box"
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+    },
+    "gen_textures": {},
+    "lang": "Take the baked cake out of the oven and place it on the plate for cooling. Then close the oven door.",
+    "fixture_refs": {
+        "oven": "oven_main_group",
+        "counter": "counter_1_main_group"
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+}