diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000002.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000002.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d0092c7f283e131ab2052d3dc03d64c890e2f071
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000002.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cac341f5c157b74573660cb7aa9e1d3186778efc21407a3e6ce34a880d627ffb
+size 114127
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000003.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000003.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c552a89737b40d0c5e73b88268731c3e7a1d5d48
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000003.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:79fac0a8c8e253b35eb2df9609e63b0d3a1dced82429f93caacd6fcc1123570d
+size 177284
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000015.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000015.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..951e4647c83bf4a82f34a593ea156cea6d795ce1
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000015.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef88b172e96ec151d3bcdea44968cd87c88af29e406471ea64b411647ea23557
+size 209840
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000016.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000016.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5813b00f264c83270b316eb144ba76c3dba0829d
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000016.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d334770f87eba27051a44a60bae011118de8e22bc283a0d34eab1a594d5ee6ee
+size 122408
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000020.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000020.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..12a0296d00f5c75ae8a15abe12d5cd5229eef498
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000020.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f34854a5655a5b7fec41db532601f21b934f1941ffa2d119a826f06fdc6d4cc6
+size 126360
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000026.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000026.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dafa0764d4f359fdc8d9b19db529a4a70141e067
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000026.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b5e719b6a9f30015e3348016d69fc3c79ddcec7980bfaba6078b04f359a5967b
+size 125301
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000037.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000037.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6f888168211ab91d1fbbfc4f7b12ef2cd35faa94
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000037.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:89f889be56fa5cfaa31ae3cf607be33d61914308dda5539a0df8e8747658c948
+size 150094
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000038.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000038.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8b5a53775a94a95d8e661701cd15b4f3912f253f
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000038.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:76def2903fe2ff82d5b417fa0249d099cebcda2074dd28ac9fc15ac65ea4273a
+size 116988
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000042.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000042.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2622a18ad95a5291da4ace5dec32a149a2124b94
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000042.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86352a0199fdf615475ea134a8a3e12d520b3d946415f2068d704c6cfd799d89
+size 147024
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000044.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000044.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..46f59dc6aaedd89c743c41d35bdd6fee3680892f
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000044.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cec2ce20df35a42e433865c5bc06c00f49289c68ea5277001f7cf2ba9f4db9a7
+size 156635
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000046.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000046.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..033cae06df8aabd27715be72328ec297d7722735
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000046.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03769cda590b4b8e948d44c9bdddb00ea8a81e0ddb12a309e8110b9189d72fde
+size 176118
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000053.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000053.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..de601cfd480798622618b32a663940c093b80471
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000053.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:34314e25535f88d4c347621abf5fdb9677b8ff11a8bb9b504e4ffca5f23ce000
+size 178990
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000054.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000054.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3c5a710bf471452a1da7a608b142b48530fa7c29
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000054.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4f40ec2f13df5d7de05e24602a71a22b68eeee03ea7056008a1f9193ba8c9c33
+size 126883
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000056.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000056.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..60dac2dcecccec54cb17bc8fda105c05440b6e97
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000056.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ae42d0a3e01561525adc97e50cbf481e6630c2735b0dd7862db55841d7c5757
+size 142769
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000057.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000057.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b0056a76598030ee6a27d5d91198dd3d9b91412d
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000057.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc17e05e5c1de98d5aec5fbbd6eaedde07a1a0d96add91362444d94357349485
+size 146103
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000058.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000058.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7f77021a521508e81089a4de880991be0495bab2
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000058.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6fc64126ab778194c322ff743d3dd3e8898fedc74c409ce387e108919ab6dd7f
+size 141230
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000074.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000074.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cd06bf23c4b00ad213c44d76c2b84be7a1b59da8
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000074.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ae70f8f322f0bd7b393d705d2ea69b197fb5559d7168db240049ad3d4518dfd
+size 150100
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000076.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000076.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8e0edf032ab34a57af8a2a62e9d9fae3ce6fa6ac
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000076.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5a175c549590fe7c643e2d02230f7997b3437a6d372ef9c53200d30b2e0245b
+size 163156
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000082.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000082.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..71c937e4de664c74ba450ad19d284a3eaa4c8d86
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000082.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:48d698e224040ca1863aa06771ee2d64ae7718ca9cbb573aa1647de0cf4ac0eb
+size 123838
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000089.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000089.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bbc32af08559f798835401d1dafb1f895da2b5d7
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000089.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60b6b453932b2d7032c411a57c6a4b0c6602d37623721750ee7ba6617888cb46
+size 187582
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000095.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000095.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a183b2506b4566ad3bc0d76735be65355804aebd
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000095.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6114df49f9e411aaa86ff1eb0c7ca43190a9caa31880895378e6c3b216bbe2f
+size 125358
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000096.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000096.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0ea1572ee50390d9db61f71a1604b207eff42e2c
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000096.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:964359cc7e5eeba8468c09045987641781d26d5e0cd223cae5ea1a8f3a30b28a
+size 152839
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000098.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000098.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bab16324ece89258fb580170f29733cbbeeea27b
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000098.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:19859b337c4c2d8bf916efffce0ccf1cf651544fd9d231548fc4168bc95f5c7b
+size 199022
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000103.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000103.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..83c9a9b3fab24c0cc3f7311447bf966ecab3ac2e
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000103.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b2239b9acfd2bbc1ddc887857337744bb2b48c952d9855fcdc468d8788a55b4
+size 136044
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000114.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000114.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..791ce7a4e3e811fe333e75b263f72e8b786fd4ce
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000114.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:449acfbbc3cfc6750b368d33a20d8a984cc95d1a3f48597ef8b3c7725557d950
+size 158708
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000117.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000117.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..03e50311c788951100b57330aefebd7e76f75d69
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000117.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:101ad85f441e83fd7bb3bde1d99b13e1fd3297393eaac20ddb07cb0b8ccd6abd
+size 133965
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000126.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000126.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6b4c2e4e27cee6233e5803f364b914bb6546e95b
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000126.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a5a56334523acd8f55c05a8a9886b4c3bf3012d043cc4f07b99389bf490f565e
+size 208406
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000131.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000131.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..de797cb3a6c7d2a57910e6931f12893547ea3e70
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000131.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f83de5f7e81f2c8052e4a85711c3fe0e9900029da87644617a849381f2df401f
+size 162891
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000142.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000142.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3aca96009b17877d33cb0c782e81ba08786183ee
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000142.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7f53505f82c566fdb24ece0a6e33d15d8bb03d25e2e89ad012749028723f5db0
+size 134004
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000144.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000144.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5dc481b174aad5e868b3ecece0db3722a7fd70e2
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000144.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eee49458ee850d0a6b335b563eaad430efae213ce6b55c01abe8f7684a932bbb
+size 158522
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000145.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000145.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..efa64c2cb86a73977f4162cf8032b6030cd679f6
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000145.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e562122c846b46561e5703d57963f91ef4fb2c50d5db897606cb7a492db5ce6f
+size 203272
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000151.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000151.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..37006916375b253966a9166029e99d44475d9deb
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000151.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a8ef5faf3e5eb0a633967304b29c912ee7424199554f48aba5fd2dfb6507d085
+size 136981
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000155.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000155.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b260e3a50f2dfdc7b5bcefa49293b76de73e5c58
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000155.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:180d327d5f141809bbe84de4f82fb26bf103bae6f61cdd4d0429ec681b2ff929
+size 119269
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000156.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000156.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3dbe93df148b035278d2190500881e56f780d03e
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000156.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c183c027facf090ab07f759314e0dae1c8feec225edb8665c7606692c318c6ae
+size 137480
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000158.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000158.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0c23fbf880f4180194a03d29d46916ca3519db65
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000158.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7590ff4426791c2f0192628584cbf28c50655e9d66b46e1d947e60209cbbd0bb
+size 157057
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000162.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000162.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0446d162b3a717d5f3d8f66ef509435cafb8311b
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000162.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95e165b587d47a31301c5a88a0bce86458217b3e95299563e865d4b47b7709f5
+size 136534
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000170.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000170.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..511168082f5f8fd751342ee575924f4ab64a7fd0
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000170.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b37c720dbac7c04f569719163adfccbed6e120e1c4ff4f800c33963e8857d41a
+size 193675
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000180.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000180.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..eb6bd07c9149559e60330085313dae1815d631b0
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000180.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e204ec71dca2cb6f6653316533eb77fb6925d53f4f9d53c016316add620a3c80
+size 151647
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000181.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000181.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6707b250b7857dd01b0408a02faf77ddad613cb4
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000181.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:144715ed0614fa2fc3132927843fb758265e24c60f2e242b48db827e984a830b
+size 123524
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000184.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000184.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..63c3ff8d9ef68fa0ab691f1ecbd60fb80814855d
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000184.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0613919d5c04f2ab8927d12646e89666a83282f3fd35995389fca1269a0bd842
+size 123279
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000186.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000186.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..175c35e1a454a2807c6e913d9f45f678b4e70e83
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000186.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5f23467941bb82a632ee33acc324bd38121196bffff63e67c75faf2de99e4f7
+size 220608
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000187.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000187.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..21c9ecdcc6b6f89d634f87ca27e9252cd85d1e35
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000187.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9fa9aca900e3f722090397f7279a011550f2965fba2ddfe6a6001eff8a6a571
+size 159160
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000188.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000188.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4a41ec32b4eff79ba6849e530a116b508cbefade
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000188.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3d45ad7ef4b425be2191cb15b844886ccd6223399eda573195eed1fe9611df3c
+size 115413
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000193.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000193.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c24f574370327fe93bade2ccbae9cdb1ac39bed1
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000193.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5683be853f1f70c9d14a6f849cd376f3eb8c35705a24dc544ec3ed0fd4468661
+size 121753
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000209.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000209.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0c01214152dff64725f3c39661921cb2c09a4379
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000209.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:132412d1b3f52e02410bedd41c5d9958b85f37d8eef8301ab4a4b5d2f4270ea1
+size 138373
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000214.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000214.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..02170911fb581466f756a078d586cb8db6e0985d
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000214.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:da51878114039041c8326ccd0ca2575835aeb16a0d7ef11f27630fd3372d0bb8
+size 156735
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000220.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000220.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9900dbcc75d99050ae26bcb8d5d715c58f9edd09
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000220.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5a5d8abf961379e8eb00d85592a293e723b6ceb165edde298482faf6eab9890c
+size 128454
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000233.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000233.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d9061c156bdaec1fd0ca36c73228f8c5044dd66e
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000233.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:05b66d73bebc36608b1701170a6bee7e42ba7f36c29b4dfe2dc24e03b3b5cef9
+size 163627
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000242.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000242.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f42c67671e0652073379059eefbd1e0420f98c26
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000242.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e5d4521e9610599207c3b71fbe88874b1b3a082fc9530d2b0a0566839ee09135
+size 152451
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000249.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000249.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6211b19332c1f1b5bf1bf42e2f0cb557b5f47842
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000249.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14b0311edefb55b15e898912e63fd685ea4de0c05f8dd05f9a4b4787eb81a194
+size 126926
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000268.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000268.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5b73d0fe22d6504c48da91639872b828933eb70c
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000268.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f211cacea84152e14f471e90ed47843ca007c9710eb282aad233fc6812ced512
+size 154941
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000271.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000271.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..03eae9c2086cfe35eee464ff070816ae75c5258a
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000271.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0882caaca885a5e1a775ef3a5e9d8e0707c14cde323f6f231b6a96d9c82ef769
+size 120450
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000289.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000289.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d406425cc0acdf693c989ea4090fe190fe07a418
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000289.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7dc10cd734d34c6187e097fb01aa9c0898893cc1b7746c58c8bb505687ce631
+size 174116
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000291.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000291.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3ecd3111c150f8feea57d2f2d9e6d8580959373e
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000291.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33c914d5a9120f3c8ef36cc0b81f977d248a575b1f59e93c4b4f989356d85c12
+size 190506
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000293.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000293.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..464b60c7512aef233c002ba5b8ca32483b543703
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000293.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3da533d812c38acd9c1d1ddaa8a2d5e49c6ecb9bcce237f93dbd312810e809cb
+size 173945
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000295.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000295.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9e7a90eea94f459404655626f39e8bee089c8928
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000295.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8a820b1b1c79577d0e60e509effd3805578f07e4b5b2bf5799374b35fba443be
+size 150031
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000300.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000300.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..05be8de47a156cea9927d39c171c29eedeb5966e
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000300.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43eee484e8ce5e8ffedf4277b938fae253922d04a0f9f77d0521bbab52d3edf0
+size 170707
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000305.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000305.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2831c98510789f8099381c1a53d904bc746f4bfd
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000305.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e17859de2729ce985875253fa105b0e511af8f90aa6b9a610def2a0bad6b1744
+size 173966
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000315.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000315.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7e64bd18b724f82b01cab77c8b837689daf86e5a
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000315.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf59d97c4fcbb7ef9991cf584b21d5e8d3a8190a7c2c0d6eae526de49e863fa1
+size 128032
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000331.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000331.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9cabef30a2d8e14e834af52c87dff5875a3d160f
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000331.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d486f4e2a792bfc614c1659318e759ebdd6d2ad9903cf19c8b4938fe00d3f67d
+size 121855
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000332.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000332.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7a2ac8adb25eb36b5ee64f50cb2e8362bf46874a
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000332.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:698ee27526091b67a90916d57efe30d28870005c053b9aaa92cfb93ced79f6bb
+size 215644
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000333.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000333.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d8a697063577cabdb33f82ce57c8f428cce28294
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000333.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f2461e10a66b63de585150868a72dacc7a41e259f40008c2b5454c0316fd17c
+size 201263
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000336.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000336.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f958fb484ab31d7667812183d3bb8df439356f44
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000336.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4681cf1a636db8183a4112bff9fc436a5e3e657c5e2d75ed3b80b2311de537d6
+size 184646
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000352.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000352.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ad603aa5786f6127c3011af12b9b9fdd0cc98cd3
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000352.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:728b6949a1f2502191ed9f3e5b4dc256f10b86465806c7b4ed05f211471ccd7c
+size 121531
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000358.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000358.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..12fd8570e99edd206ae44847463cd9ada5ca385f
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000358.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5ee722b612e1174bd3214cfa878e7df548475b4c2ae61251bf6708d9d3e7304e
+size 174970
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000359.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000359.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..485ec9db0cee748355a1bf48234a386cd90069e9
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000359.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:453a2c71e045e7d5cfda26f2bdf851b215b35270d79c2808cf6b17ffa05d4411
+size 181958
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000364.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000364.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1f06f66382b24b772c7b90395302396bf71f23b3
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000364.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86381cbcd679976b7e92e1fbaf47fe320a02658b89c25b072d0f95fa713d9f48
+size 145769
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000376.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000376.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7985b2d80b82d463c412226a06582a3c5dcca04f
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000376.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:638cc1845258ee0c54c24f6992c6984307ddc783447149f6c83108d975beb56e
+size 134086
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000380.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000380.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..72006082ad787a9e6b4841a00d4213591cbd311f
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000380.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:86d8cba4e76ec7090343b4f85b3c3e79f7d24898a1b2e60ef6b35e0942c13dbd
+size 147546
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000381.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000381.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..80df935af745eabf7c6c52adc7c63c9a9fd33b08
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000381.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cccea4fcd31d8a9a321fe53933d4df49724454c34cbfe209f977baa412ce83c6
+size 108627
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000391.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000391.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9b176d1d59aecc5da6860b4ac5c45cfb39db20c7
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000391.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14477e2d21b199fbf82279cc0d9d382b327f7798fbc061eb873cbad7189724c7
+size 136385
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000400.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000400.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e676dde23fc906b99a6725541fcad3295d987646
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000400.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c845e5b3ca6a1b71fb4fcb3a91b831950638505e1a568029ebd69634780f397a
+size 147550
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000425.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000425.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..600f74e8dde90b2bbb7ce1aa5a02f541d7ff2b55
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000425.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:00e5f665a18b2dba88f03681728610f9885885fba83369f3353c3e88e2b7a3b3
+size 185821
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000432.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000432.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fd8c751a90c09c5e3293ab41c81d7c5fc39d18f8
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000432.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2611a66d831ccb1a94bc8bd12d9687f4f687446015f76220d9e6b268356d2701
+size 198526
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000436.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000436.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ab283b59c3dfc9d824c4935a89f707ba762a05bb
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000436.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dfc04e911074c26be86a2812992877d7a16b2312c8c8e7aa6323323abe4f437f
+size 196324
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000444.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000444.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..23820132e17cc10c96fa0dc032423b4dac095a62
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000444.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56bc4b16a0bc144be6a75e752b1293c68927519c65c4aace5a3962e3a4d15007
+size 109602
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000454.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000454.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0472210d9db13434f5cb108e100b646bb2a8df1d
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000454.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4567c19bb6c4540812cd16f6c4634699a7ca95774fe3218304fa195a772f02c4
+size 135237
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000456.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000456.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..805e3af41ebdc984a8ae5460b70bff5e16d343ca
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000456.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:57e3ac9f24531ace5e50aaf52c61351dcfff55f38cb00bbaae5fb0375337e26f
+size 136082
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000464.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000464.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bef0394107436f98a215cde5a08fcc76cbbf4c01
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000464.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b343b909b7cd94f103b9f815752dbdba8a781280c65535e34552244e5060e6c4
+size 135065
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000466.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000466.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9a1b2284da01f6737bd16d5a56962e7997c1b68b
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000466.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ceed16961e93992a76cb80309a36aa0f496bcbbacf859275d3ea62bacf2f7afe
+size 136547
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000471.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000471.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5726b953b8299985bbf4ffb8d5153b58e61ffa81
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000471.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4bb7d2f4ebf968e1364a0882a1485cab78e96d8df615598906ec6b762cad5c29
+size 153416
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000474.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000474.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..279296d3abd3519ee4594ce73e0d5b005b3ea56d
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000474.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa286a6aa5f67ca687e2fcf4b26b73376710e85ce20c627d9d0daaa535d5f7be
+size 230178
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000477.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000477.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..17c32cdbebbe30f6e4cc2dc70524240d613f2546
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000477.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5bc8a6ccb4eeafb58ca43fdbaeb633e60b6c91780076732d7d7f4ae50a10072b
+size 162696
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000490.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000490.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c4d2cd7467e489262e308d2d6a81a186507e454e
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000490.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:066b3dee36b2f7de359cfe2702836239e19ebdef4fb12ae698ac4fc9e9b34fbd
+size 149834
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000000.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000000.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bc0fa046acb79f3edce0557312b50711a7c78ee9
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:03df66a44aab08a76f8563848f9bbde59d866bb09a82db0fd29ef1566a473e12
+size 266725
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000005.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000005.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..10548e7eb234b17522a69719ddcc1776dee1e1e4
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000005.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1fa11130ef534eba9b2eaab99210a2408b2b623e9c93016f340bf6d1371a75c8
+size 510269
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000007.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000007.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..eea8385d17716ccc24b8e8ca79d2f2d09aaebaea
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000007.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04cedcfd237e38a5004ae72ac6df66e3a00ee7c8006e948899066a132f972dc2
+size 255419
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000009.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000009.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d61796ede236aae52f53a6f93fd02b8dab1ff01d
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000009.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f47eb9fd24a7a741962dc547a31d72f4bfc2b78b7f9bcccad78c2b9ac965035d
+size 341094
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000014.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000014.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..748ce6ddfe94dd6bdef2b2cd4018f9cd16f308df
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000014.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10e661324d863aba5e3b848cff229f9d7a2a3e4c5655e06e54035546473ab3f4
+size 347677
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000018.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000018.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..86ce34db1d9bda3d35b060eb91f412e540dd08cf
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000018.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc7aa84f0e72ed135f9d7e3e4b11be5a25276438a17257523239a1234b0a8b98
+size 265987
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000019.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000019.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a1d13b5121c3b4ea84173f135774c01e71d7dd97
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000019.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2994d79c635e33d2c2c0b5dcda595f19be7137814ae25d4d285b6bd06ea2f993
+size 306850
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000022.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000022.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..95a2d6a516bc08169dbea32796879ed8147f0dcc
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000022.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:df479014ff40c5ccee8ed59ccae3ac81d48bf8b994e051c0e853bb38c4d804f4
+size 283997
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000023.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000023.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7922da99748ca18966fcbb9704a1b2e414348e0d
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000023.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41a05af568ec8812f04576524e975837d011d87071a61516a1b1140683e1ca98
+size 277659
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000025.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000025.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f1585a7b21cd1bbec078edcb3722565ad78a9a47
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000025.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:528e1bf017e62b09ef5b01fec15c9415bd5fc9ba7e223aee33d6380e75535d93
+size 302050
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000035.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000035.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..39eebb257928dcf3d819cefa81ae1a84b718fddf
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000035.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:224b032a05e2b44188d0c50fb9e5fa122e4ca58b1bc33753d7b4fa8e76f616c7
+size 419928
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000040.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000040.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ac4cd70bdf30c49c60a0c803d0791a063d26111a
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000040.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fa458c25e45d0994b63eba6fc5cee90b8d7dc435c5c5f345a764abda25f25b2c
+size 311457
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000045.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000045.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..de9edfe08a2f4364c66d7ba7bc559d5c1cdc9ce0
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000045.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6327f14372265a7fab71e2bf30d00e1cad1e7a9401cf6d0c89cb4900c7b8ebbe
+size 271999
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000048.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000048.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a26a45ec182707e9389cc6b1304430195ade5479
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000048.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e090fe185fa39e1855b79a32350d2b2892ba78a91af17c1f5ad98156129290a5
+size 351748
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000050.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000050.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..635eca50da9ec3dfcf8c5dc15e78aaf76c59a24b
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000050.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf9038d46cf0f30b16ee11a490a6567b096782c7e066fe2f818b843b8537c27a
+size 280114
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000051.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000051.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4f68dd5d1bc17c33cca1cb8e2eff783cb91b28fc
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000051.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ef7078b859d0b6db50c49ba8cd21187270d1de024528a9d80f32b966c06190d7
+size 239816
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000052.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000052.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b20d8474b716445be5510a7c09e06ef703f61185
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000052.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1e736e7b555feff123e06db28cc7a1be6fe1882282800f2ecb15006ff9f12e4
+size 254383
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000055.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000055.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d9aac3550e2c3a2e698c7e190935b3c7d95c7bf3
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000055.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a3e40178ee5d02104b83589673c2ae93006a51a6e786addcc44f6825620b3b43
+size 264754
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000059.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000059.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c4d0b376995c034aaf91096b2de7ec86e20bd4de
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000059.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:74520a770d95130754a8fb32d64d308720d110cf55928c1c5500e3f3f9778d81
+size 609768
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000060.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000060.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b46e2aefcd27d40d77c50f49b370db6a904366bb
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000060.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ae466a4351643841c864ab44642cba8bebd0aae2d56f2fe133b745ca90b397a
+size 288142
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000064.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000064.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5347a3dcb27738b01d32275e06db75e828074e9d
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000064.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f4f0711b7678a83ca0646d4015c839abbe56b296d56a00d6e6f6ec4de89ca58b
+size 298017
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000065.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000065.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b1b375e99d4e38d4239d1501d5f9ab6bcd12d11c
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000065.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1662ebf3564b9210db7f0129c013d06b1609250172b221ed2f3bdb3f3aad6685
+size 443446
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000067.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000067.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7ab0fd6c7c16dc5422bbb512dd61696b5bbe0963
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000067.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4aeb1fd628154ed0f34c39bd816df4a2a4b49a48b5d619925e5e1c8ec35c14e5
+size 242413
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000068.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000068.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a9003b3fcca6fe71d5921a048c84ebe41ac743ef
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000068.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa7c0853626e245295eeb7297b52456add2f6a3b8148b0c50a3b693bb46e774b
+size 264831
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000070.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000070.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ab0dc0cbeea84523b491a39534af99b336e6279f
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000070.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ec258815bbeec6afdc1c548932cbdb4d7f94627e3557f7eec309f313fb55f483
+size 433313
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000080.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000080.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..051eb625c807ace9a6a9b15bf03747c3f2b7bd16
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000080.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:576896eb69e49ab464dd48b2f1c6164a97ba7d34dc7fbeaddf8c4a66edc1d49f
+size 375884
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000081.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000081.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..527ca29ae7a01782f9dde46caaa5aa9bf50ed14b
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000081.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f2b5f804765c68c69867e52d1872e59890d79002a7eee94fa325f50d6712104a
+size 548247
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000086.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000086.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..de92c55b743b0ca491a9d59d6cb052bcdc0c81b2
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000086.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f9c06cd9eea8c6d15f01a94e87d774fa0923473860c080c7a0b40c52e50aa434
+size 275187
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000093.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000093.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f44e608a02a0672f72f678cf16d154c3034627ee
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000093.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bd68586afbbf84945e8f39da89ad14fb17084c8a1b4ad31a4b84bf987ed50109
+size 297510
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000097.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000097.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fb362dd07932c9e18d995296a8755d457cbd6c2a
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000097.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:876b3ce3a86a87b6541cdf12cdb38af964154f7248a681bf661a5e7a9d355ff7
+size 276370
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000100.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000100.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..951704a9246c77f013f29ff1b2fac81b220640ef
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000100.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:58692f44f052038fe1921ba74dd081f5bd6e9b073cb55b797f596267df2484e5
+size 270160
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000102.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000102.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7db31f577a151b1536a9675b38f8974c496d3feb
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000102.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1d30ceb097350a045b075da061d70e10886e9b7fbe94a3dc176bf75e1bf85731
+size 259219
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000104.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000104.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..444a8870fce948f08b7e1733e6783f8958dd17b4
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000104.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:25d7162ad52b798f2bd98a30370a9513017f31466569e325266909ea25b7dc8d
+size 277618
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000105.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000105.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bbeb3d9d2cba2a179888b9990b48de02830412c0
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000105.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6e1089609e2564df0438f9db1edc90739677c838ff8ddf96fff052216a8d827d
+size 310105
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000108.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000108.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e73680e71d12e5ceee086d88b453a590db3b725b
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000108.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:afdab5f99924e852f3ffc2d761abf26dcf164a31c435979f9e331fc1f1ee1b7f
+size 273209
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000109.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000109.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e74be1a4e008b9d8a56c4f733e8b1f40fd3de615
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000109.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1cdc5c0f3554a6794bb34f252382b6d1f578b36ed5eb49cd6efdb941647d763a
+size 258512
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000111.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000111.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..031b9ec74ff5e3e67451c8d0dbeccf1f61bda58f
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000111.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f63229097b2996e4cf16d43f31861c98fa05cfd29ded3bfdbb701004af341f77
+size 321713
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000112.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000112.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..10cecd72285ca1ee19d48edf7dd330d842f5e0f0
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000112.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:21847ccefae3dd2314454723b0a30a0a2fe6f0cc45f7b328c3a48cd7b16a1b4a
+size 348468
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000115.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000115.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..618f849da0a683fe2612f51b1435884b3012e6fb
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000115.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:471f8d0df4b0ceabec1c476d5ba57a468ab0199f0b67dbc5d4e8238d297b14df
+size 233535
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000119.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000119.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..68e51382a3cb669ac7f1ca0529e19321d70817be
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000119.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c7d149c568d97ef6ec25ff1b53a5e8a2f2b4ce6f2b7f4450a7203c925f690638
+size 278468
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000122.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000122.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..73bb010b546a5017a275dfb195cc6744bdb6289d
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000122.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7be5eacc0482b1c4463592b27ba81917f4661c6c954841cba81e1a7f16d66561
+size 306752
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000123.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000123.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5cb08562466aa8e3d452ba860983c55cf1a4a14d
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000123.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:126c151564f75679e6a563706824eb76b79d1ea1c355766da89681c4b077a24a
+size 355028
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000128.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000128.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..39d6ebb5f968129622c928bc8d861b9701fe359e
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000128.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1fde51df34efcbebd174ab97ab5f62dd253525fabdbf8ca12c4c6c0c3123285
+size 250083
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000130.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000130.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cfe3631ebf51551908a234f5e63733dbe8a1c3e0
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000130.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9b2652f718aa2a814f257e337c975e1c594b022aee9b1ff3955aa83d09489a55
+size 293273
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000134.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000134.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1bd31be2f5cc01dba579846fc3b5d62f532e1618
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000134.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f27aa08bb9dd460058cebc88c86dbfe45aa70c69ae3af8228865ac571749dd10
+size 262539
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000139.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000139.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c542e30c27ce0e32290fd7bf16f985720351f33b
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000139.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8391a5cbdcbf29c816c377735250e3fc6c284d98be5cdda54076182d46b7ecb5
+size 304502
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000140.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000140.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f5c291751321bdc9fcfc42f8bbce58b59a0e7a71
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000140.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a8831eaab1abeb369bb58b4c483db32d2ce9828dda62942bc41092fec920412
+size 358968
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000141.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000141.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5eceb385ca7a2b21d5c32f852f7488e768cab7b2
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000141.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de8ff9d0802c9e16df18e40449774baab74dc2c50c6d262e9a1680612de0940e
+size 314130
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000143.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000143.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7827a91ae44c31a246237697385e129d3c35227d
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000143.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:472472140555097616581626d89437281fc1f10160a697d611eae590be27a3c9
+size 367115
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000146.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000146.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..68836db563ab33c8d5b7ad56b64488c280c9ef81
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000146.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:719a21bf277d7f632c434623940aef9edd049d5a2480e9479125892b050541dd
+size 291257
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000147.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000147.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6a69dfe41e56a7752ecbf9f248de183242c46bd5
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000147.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3676e3e94df6080452e46b0e9218032a3034478ff47f30ab66456bc3ae6794e1
+size 388489
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000149.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000149.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bef8d86cdbd04ffe94b4eb94bd633c56c5a28329
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000149.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:362e48fa069a573a347913ea9c885fafbb21a721ba686d8a8e63ba5054096116
+size 440589
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000150.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000150.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dfe8ec9252e331d6c0246dffef8b0188ff3fd4e5
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000150.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b6daf115cff6ebde877055fa5faa13bf70bfed3de0cada3133bfb5f56b79b326
+size 330927
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000152.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000152.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..69a47d252a85a903aa6f12c5cf384c70516853a0
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000152.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5f045be0ddb5cb533cffa2325994475d56f5dbe8252ee8000bc474e3b70b367c
+size 307081
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000157.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000157.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..65aef2725b6027335ac426d5c19f98d4d8afa772
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000157.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b1a0f631dc415a2e214973c7d011858b0c15d14954fa57196f045dbaabf6220
+size 243679
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000160.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000160.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..09e3f45a6b1111d5ffac3c677a81368e9076f0ee
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000160.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e2fc06b1d072b773c9420d36f2ccf03c058cbaf3b405fc93ec318c7f2e8506d
+size 230464
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000166.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000166.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..700b714d860712a2b943ed846e8c15e523f4b413
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000166.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:83e864d07233a5d1367d8987280053c12cc59489ac81da0188d0535e169bd5a7
+size 298848
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000168.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000168.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ab63e5d34ad0f50393bef35b973866d5cf9bb621
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000168.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e2b57bd01f495e2c0429a753c22b347c454a3854bc42b6ad164606f3cdc95632
+size 303334
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000174.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000174.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..db388ac255bcf3e99aa651255cf679a3e0cdc907
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000174.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2bc3839cbf2df0751c83de27ef2497717cffafeda1acddbf6c0d8af7c46f78a9
+size 278921
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000175.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000175.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0670b9efafd822c8f13416d79d33f5d77392b81f
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000175.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8bc00bcc331fbe6470b5a77ea3904e52b7724c926dc7f8f46b932bb73364ff63
+size 458174
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000177.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000177.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3e418470a96681f4a88c9136ac0827cd9d98687e
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000177.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:860fef93492f14f4f465c85887da230eda8e7f87662629171d1f2498c29f041e
+size 298175
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000178.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000178.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..95290089628dbc9e14173526ab0accdc346f5403
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000178.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0aa4637b45abc15f2ed95cc0a10969dc607ff14f3c794a38048127979e2c82d8
+size 296525
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000182.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000182.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0ee73d1af263c8a283fff84e65ad0b3c1b70c6dd
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000182.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:083dd108c46a8b260e3fb46cb557a2a91bb5cc114cc33e8677791a731d8fd4cd
+size 301287
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000183.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000183.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..cbe77b493bb212af0594e7b33c7505aaf8a597b9
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000183.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:66b648b7cb7cb0c5b21b9621e20f36067b0df92ec500e023c68f2afff88e1cb9
+size 203120
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000190.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000190.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..15c3d05d8b35406500ac0b35333b525070683475
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000190.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c0bcd076efdb254e1d38625e257901ee8a7237b98d9aa4b0331ad3f36a252e72
+size 309229
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000198.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000198.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fb95ed7d6f476f2788dce5df5ff67356e71daaae
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000198.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cc6469c886d5a13450b6d43af919273196f09944714703170a664e3e0cf51f4b
+size 256864
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000201.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000201.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0644a686d2ffe8115fa763052eaad4079d596e3d
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000201.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:41dac414767d787792a0945156f86109b5490012d128627aa5aae1bc288ceed5
+size 290437
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000202.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000202.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..419359603e9d823010fb9b6592982e750b6b9295
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000202.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62bab5b888fdb50b245015a65044be6a3dbda57123e5b1469580dd5a5537406f
+size 350025
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000203.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000203.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ce6eef3ddad3afa9941dba449eaa6c54fc176c69
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000203.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2018be853ae0c06b92834bdecb3456a20eeaebb3f700741aed404cb4eda2281a
+size 273442
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000204.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000204.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fe7103590866c21a95077757a60362516c7b8955
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000204.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2637a8f57697ebdf1db5484a11bc455bc0aff41123c494dd2e6b4c8635326dab
+size 433923
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000206.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000206.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2bff5f998c8f7e03fab3b6af40a985eb1b857359
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000206.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2f86ebbd8be0df16c418074f1efa9e9a14ce765216454ea4b15dfdee842772f6
+size 292485
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000210.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000210.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bcbb01e537d6f73260032448e045f16b84fb66d7
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000210.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:33317c193d5f2f43c99bfc9cc26372a0165dd4ecf3a0798707d42c21431ef363
+size 271522
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000211.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000211.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9f442a441cd2adeac13aef85de5d591e128da0db
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000211.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:30e579d614b9682b5b32ae6237ca76de9a1fd158c888bfb4f3659b8d4ad0ffca
+size 307078
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000215.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000215.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3d3ec546ceb3c18e264275a02ffc908d717e7023
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000215.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd90a9f456c69383bb8b432417e11efa9582570a9722a4985665b106a50e6bff
+size 257628
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000216.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000216.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1e263a68ff9c20fe4f081b22f6eac269615e569a
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000216.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b9ff9e6f8b22c8d4bd16765a44df52aa5ab518e47a85a596d7be830b1d326197
+size 297264
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000217.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000217.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..20617cfe55f47efe5fb0dbdb96b218cd72b920a3
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000217.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d6dc2fbefe86c1b0cab4a8eca68f2cb25714f53c40a1fcafeb3a11c71206fa41
+size 283932
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000219.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000219.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ea889dc3e156eae76909d77dfd22ed2b90f9893d
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000219.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c3d979f7f6ea565cf5db94f9d1b7253d2b6e20f90af641da9d43c2843c5cdf36
+size 335424
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000221.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000221.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..59e3ce9f564d05496da580b7868fa90db512120d
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000221.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf81fd75cdcee94657ae6f468c21690e8e3c000392941021d7c713ce39cc8412
+size 645842
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000222.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000222.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..dbe6a9b4983386dd2a37375dc70ac7628e0cba01
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000222.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5cd99181e40b737cb1222d98483002fb2a4ba3856718964d658c0fbe9eb0c30
+size 511739
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000223.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000223.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e213f54a1e2e0b192f043bef2e5a39a55d7ef748
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000223.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d4ff3ad6998f593c1b620281004920ec782cebfd8aa6e0180f3a7adc208e8ff8
+size 284999
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000224.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000224.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..aecf6eb1ebf8c8e2bc8ceec866249a471c0494d5
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000224.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9630f57c59e86bbdbc30bb7bc37482561f0de9978bb31699e78f2db680317a3c
+size 344419
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000225.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000225.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6fa1192b8ce9abba7e76964460701de4e4629228
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000225.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:96a2113dc1165c901dcc10ac3b65a7338b9d2ce499b315e1eeea763c362c8915
+size 344143
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000226.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000226.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7da7b6eb72a8235bf69b7ade9e89654c6972fbc4
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000226.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3923a9146a8664fde4f3b43fdd40e36d6559965a498cba8b93fe38981afa3c37
+size 294320
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000234.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000234.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..35a6c24073b6ba9ff0b37a23bd6e9ad1911634a9
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000234.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b641fbf4dcb47aab2c806489aa13fdb7e466f1dfb94bfa6e4a63543f120e3fef
+size 250992
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000239.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000239.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..51a0390e682354683daacf3f9dfeff6185bb692e
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000239.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:85733bbc383585fcee6ae29be30cf72f82b6ce44d1547806b2c6b9dfe0c3b698
+size 351909
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000240.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000240.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..536b2a40422101f9c78faa3791afd4fc3a7568bc
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000240.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d307d3a51911a41ffa62085ef7eade68339ce7c28494297d667f022cdff85ad
+size 367611
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000243.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000243.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a7d4ba89f0fd8c3aed7369ad78548361f16a4631
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000243.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8380def1847b3f1e9eb160910f819de774db55d7378195d0623be18f83a67aac
+size 395031
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000250.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000250.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d29b58c3cd813c7da5541d9048df77db56d21acb
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000250.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ff34139dd327644f4adb19a71da4f020e8b4c4b52d71320d34354f26899e713
+size 273775
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000256.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000256.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2a1bd79849cc9edac50fa5766e7d0f65d3668471
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000256.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:419504cbed0a632c3e10d46612967737902b73f24e4a1ac1040dc1b6e7edd68a
+size 466651
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000257.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000257.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9417c0147e62c491708f4d0d34223449411f5e0e
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000257.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f8d42666264278a7f455e6c2e9f019125c07f0d31a00d24df5c7adce0dbede4a
+size 241066
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000258.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000258.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f0a24acbfae417163d35f23c875f84123e81f517
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000258.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b79c98f7efd38cc71a626dd34f2e9a5e5982ed78c50b7f8a193b11781623e126
+size 300825
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000259.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000259.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..72ce22e98e209dd90b841d8af8838f6e8de0d740
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000259.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a81f2c01b5ad072613d83d78cf351a361cee2c0b0a0009b49f4251699001235
+size 266758
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000260.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000260.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0924ac4fece11145f93f4086465fba9235e3523a
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000260.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:462b64b21d4e633cb1284a787c6fdcf454d7b0da72f8b767c1ef8cc21148ff75
+size 262796
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000261.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000261.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2eb49195336d80d03fbcaf6aee1fad80146a1dcf
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000261.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0f1b3105cdb87e50f0e46c01b6aa437829101de52c8aff2ee86a30127817b529
+size 302773
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000262.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000262.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0e9123ac14ad2edc95d857e2e5421455d121eeea
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000262.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf0057915a8d583bf274fb4f0a078675a265dc94cb495a8795d24d34de76edd1
+size 340397
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000267.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000267.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3e1fec689a97025544cd91c481c85bedab049328
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000267.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2c55278155edd464cfcf2aa2781edde1b1ca6fa3d5793cb0a69495b0c11b260
+size 320409
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000272.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000272.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..28c5ae2b35e7f65982c1a36589e1572983c55d06
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000272.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ea03f8a0495ad394aaf7a841487d7f1abac1d4f99e1c32ceaca00c775ec5ebfc
+size 596655
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000273.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000273.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0bfec00ed3d2edf5dccf9175ec7b37ce238adbd0
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000273.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6a3114634bbfa62c27fe3b82eb101fba6c114c8fed08b3cb9790da61d90b46b5
+size 332956
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000275.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000275.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9f99804ae94daf272aa98e3e6c39439b058602cd
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000275.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7759e5b7faf83562eca8984e02a879c57c392ef4b00590e1edef9e4db7e6761b
+size 295267
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000276.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000276.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..233bea209bd364959e432ccd302dbc227ec505f8
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000276.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:17a7a5e3f821d70d3fd5e9f9365269e642971fc4df6adcd64b02fda5599ca698
+size 277661
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000279.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000279.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..11c77227b97d0fc4f3c4331d38f5a6933d744935
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000279.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b4304ff61e5c1d491510c272800d35850b42e85ea52e44ce18ec0080fa334a0c
+size 302481
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000280.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000280.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..98df86cc88283c18c3e2ee2cca4057f9f5fa3eb4
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000280.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5289e2a76ebb19f080093193bf8333ca2bb1923122136e5de5de9eb55ceac40b
+size 235509
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000282.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000282.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8326a9684d9f065a37e688dd47972a7ca5a50441
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000282.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88a47e90bd4a369a53948b2eac1889c1196fbd82f4e7294dab2c4246409959b0
+size 214545
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000283.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000283.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0b00d3a4c0c88ac867f17f541f8de1a54bfd3abe
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000283.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:10a8be5bb8a0d1ae51b050c98e942f2bcebe070d1a666251e8a69609fa048fb1
+size 220599
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000284.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000284.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6675e177fc6519f88c21096f4292e8d7707a8db0
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000284.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c8171d2d5bdf32a9698a96fe87b4acc618f8f855deb2aa2eb48287f151950452
+size 332473
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000287.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000287.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..27605e0c39e8249e2a9023551c084a795ea5d1f0
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000287.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e46fdbae3a80a46feafe0f9c88772d366549af19366aa2de41dd1156ed95cc9
+size 368189
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000294.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000294.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..145f4cea07a8d3eb906448e966e4ae309d37e3e9
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000294.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:01d6f62245fa7a64998c96d8dc7de01df356bf2d01c5b52dea90387a31942c92
+size 510044
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000296.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000296.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..29086aa3262f925a8a0631b867c41c854c9f9fdf
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000296.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a7ac0f2d7363b4950ec3ed19baaf5e2e3b182f1a2b20d0701d5df431bd43a6b7
+size 359349
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000301.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000301.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a2e4ea5121c7733b1ca8561066ebb69c02aca887
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000301.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82c9fd0bc2d98f6236eb621af31e20d2cde5b370d9e26c3144bd5de3b043abc1
+size 354467
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000304.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000304.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..600ff0e8117aabfceed3487cf754c2141261b0de
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000304.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af9deb6a7008ecc2cf077b5aa3fc098f905fa5cda3ae7f564ee5127ca0e02e3b
+size 315033
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000306.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000306.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4dd34204753fe8e15db8c02c5223cf0d306f2095
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000306.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f3809e74d2bbcbaebded53066403ff6a7425e121174b4daa173b653ae7ac75b8
+size 229873
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000308.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000308.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c3d6e8be4561b0ebf084aa2132c86c10dc7fd3ad
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000308.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b86249e211c9c9fe77adbe8944448bdd2b32168b7e02f15d3159c5ceee04ac18
+size 306309
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000310.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000310.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ac5b8021e2c6197460a168ced61350a07956bfb4
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000310.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb5b6abdfa026697f522d79e002020446f622030a301b3bd26e6e326e70a3a9d
+size 330302
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000314.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000314.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..655b9e02ef7e068be1a63ab7650d6865d1f69c27
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000314.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0d094b231784d3a47e6988ee1ec70d97a2d2d7a6c06b49ae66067aef6fee59f6
+size 298813
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000316.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000316.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b0790bd76b7c51e41b7ec34117f937de7f638064
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000316.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ebed163c4f71c32569bef0c7253e75e03ab15a70c08579f1a652a7a3f3652f40
+size 295227
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000318.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000318.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..68e15d012d98c4f56f27dba8a4be445781eaf59e
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000318.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:40bcf18f5b54c01da691f8f7389b6079062b69fc2feaad61161d225be5d10129
+size 289453
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000319.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000319.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6fda6c951fca1722d3eaf925b992b281d99388ec
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000319.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d0d3f58287428ff46f8c72ad65355919ecc83f9be6d678afce4a4c2140f23697
+size 285597
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000323.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000323.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d55213f70d7922de8522af072a54286cc27b1455
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000323.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de36f506571c060e2d5acd06a65fdff4f38b8b54e2e939dec0ac0ad550afc093
+size 373831
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000324.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000324.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..57d00d57614778dca3122999f6af5a7fed9fa366
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000324.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75ca3a632f5613a33268e559ebd302fea3de3173b0b7fa1d327b61fe3ee7d225
+size 305199
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000328.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000328.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..1d1dad53264fe8b5e35eff0387d35bca34dfb7dd
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000328.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7ee3775a754bb76febfc864310266b85ca78520ac264b2a6ab3094e792676153
+size 272939
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000334.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000334.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8c73bd0c93f9660e833149802cc7ff7567062f26
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000334.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:29e18eb685ed6d7e4f4eb446d921303bf704dbaa659c85dd45f30499645fbe06
+size 312239
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000338.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000338.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9295d03a8eb8054e7cbeb87409c96df6d4b57fda
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000338.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:693007d6b696a5a6617e454938ea4dc2cc53ab20f41159e8086d2b42173f2b8d
+size 282093
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000339.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000339.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..daf0100410490ff77277baddffaa0de2a84f8e70
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000339.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a4f80c30d854a807756cf1bcd68a92d2dbac6eec2ab702c357a32df6c4b85be4
+size 382660
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000340.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000340.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..5ce5dddd49771929812b598e1439d47a0ccc7fa7
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000340.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ac54a7e7575b917b5d0cf4512cbb526b1869f2274787a03ba3dfdc33f82ca843
+size 266511
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000342.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000342.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d4e084d766f5fc205b859610fb88e3b814b416ac
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000342.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a54eabafd0d3da70a5c202ed2f857a6c9ecfd560aa50fa1c0e6c7e01785d3d4
+size 252989
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000343.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000343.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..193c4633123cd41dede013b9d598616406738472
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000343.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:aa845e2f349ba2c9d2055eb7295a2a870d766f755ce8c411c4db9c6a71344322
+size 324086
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000348.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000348.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2bc3cbbf7b43fc2660f76a1fcdba5cc59a30a246
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000348.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:480ebe5f02fb8e5520b96527abd0213e951ccb5951990091b265f0facc76f363
+size 269377
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000350.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000350.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..11c1fa8591388fbcd3a4f72a07863515fdcc4b0d
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000350.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f3378ab2d046b50fe0b5ddd59779f070153d54f3a03a2f0e74dbdb1529b9a4a
+size 458127
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000356.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000356.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8ab25f3c6c5847986e7f91c8febc09cec2f287ba
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000356.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1568999192e83826ab56dfdae58dc67fd6663b4a5f985d4e46afcf0ad0c0f11d
+size 271608
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000360.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000360.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..51fbcbc00d5e97808385bc5d1013352bdfeefbe2
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000360.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fade6517eff3e768417aee449b4838ee1ebf62577dd64a90e2ba33f9094a9c1f
+size 299977
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000367.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000367.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b9400693d84bc5e0eff61bd50281ea41c421ac69
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000367.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:15e99a175ab184ea9a0eee5f1b7703466ad23cabc235cc97deacb1a1a2361144
+size 396673
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000368.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000368.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..88be345a61179c0f0daf7b2d77315eb77113ee1f
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000368.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:087e35715b7664702c04ee9bcf4d33906324a4933ae7352c76b0e027ee6bdbd9
+size 268915
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000370.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000370.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e66f3387b19f26f3f4ecd7a9810c02cba246fbf2
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000370.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb5d407329bd58d157b1984b7c804d3a93e004e347b6360c1e270864b44a657f
+size 389611
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000373.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000373.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8b9576a0b13abad1b21e4d261720cde2b6a433c0
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000373.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:292310c9387b47e455a0831f025578efa4c616448572b4645eea833fb54ef723
+size 294257
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000378.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000378.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..afa0e30209c2f8551c02b7f258e8f1681ed5798a
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000378.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:918ede4717bf2e49fc6babdbaa54d3799d759f4bd3dd169da151a804d5366def
+size 319216
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000379.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000379.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..4285a0454cc8f65cb6a63880a08219c2d9704420
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000379.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c5ae59923d63de94c0881d7bbf654e01bd36e4f10f23007493e861da9065b51
+size 309117
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000382.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000382.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..49a7ad185b79da8a8a32fd30cb51a5a4260b9938
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000382.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e803fcb60378c08da0256f5226df1a0b6e849d5825077db6d785e042674bacc4
+size 268484
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000384.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000384.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ac82a77a4dd07e906bb7c6aa5cc9b374beeb4009
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000384.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1cacf9a2c0eae516153eaafc505f6e35a082842ceb1b7e5ef9bfde702ef5084
+size 282349
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000386.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000386.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..7a5f8eef09a9cb349817943a1a82627ce049f06b
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000386.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a77ae7c30aee8dcf4945b35b4f0810493c4cf35e587ff1e58fc0d8a25d53019
+size 252128
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000390.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000390.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ee1eff3eafb8ab4a838c863310320418577a7051
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000390.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1ff9299cc02b21c14022850f30286ac0733be938751ebcd96a3f1bcb29c78d55
+size 353292
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000394.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000394.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..8a856148f806ec46723d6372f80756994c03ac88
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000394.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0db7418e501838c159672ba6b83b2bb1b67151262a8c22c388f349180cb0448d
+size 284992
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000395.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000395.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f4d723eacc2076d8cd5f05c6a0eba7a9aa5cea28
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000395.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3742f6c7571ed015baba40d108206a985224743e816509f76afa94523c646815
+size 324659
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000398.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000398.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..bd288ad3729c43e93cac2e1bae3115f6105031ba
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000398.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:43ab4ee4561f8bc5d89eaeafcf8ce219cfb9e2a5fa9822fb9aa07da9ba90a96c
+size 281848
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000401.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000401.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..363928ad22319e7ec611850df92888e69421eea4
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000401.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f76d0daaa687fc0484679a7474368610c951c516d6bc89140c78797480e5094
+size 294310
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000404.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000404.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c16f1ba05c6528b90e7b58355c5113e5de1bd815
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000404.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6dd2a9e687e223847bd305c5d9268685ecac3de0877ccbcfa1e5f71a51f49188
+size 229918
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000405.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000405.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..49b5dd97e6a7b1012d27eaafe05d94b8369f2ade
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000405.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b275867db75e70846e11591380e2fe390bd9424519a9454688fc5f736f891e31
+size 302462
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000406.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000406.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..eab7721beafd48354194c2da66d70fc332b591a4
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000406.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:68afe92b34cbbab5bb25b6a9990b21f4d069a72c0e869b5caeb9965b4b1f4224
+size 324063
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000407.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000407.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..66a92719c4613f9468ed1731046af45932880bb6
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000407.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:960267299f6fa4c3bf8dd84657680f3f69a5aa9cd49d3fa3977bd79c89ab5f77
+size 254097
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000415.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000415.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9d44cfa86cd2f337a2fd2a7e394d88531ab49600
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000415.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e6dd83deab946e6c0505d0a909531774a5fb8d5991a3884c36cbbab48547938
+size 223521
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000420.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000420.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e08c5f3f994ee015f2ee34a94fed0711cd0fd8b2
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000420.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f49df6c60782e19064a2c10f96574e3fb9618806acf40f17cab0f57b6b005a2
+size 255868
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000421.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000421.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9651a62b00be918338674c982a0d81f188b158a4
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000421.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ceadd81c9523272a059b4fed9296de99de336e8936ddd85ec4bbb9f5f027bf57
+size 299942
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000423.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000423.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a109d01d54429339a470f8c971020f0c446a14df
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000423.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5fa745e037294d3794842dba7dfc36fa4ad57ddcebe4c5c03c9e0a7b9a9df927
+size 329831
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000426.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000426.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0e42d8410c567c29bf80cde6257d36b0ef362a18
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000426.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bf91ce6c8c5f71cabaac5776280c1f83e8ea4542aa1fda034d5b860882573143
+size 292951
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000427.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000427.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9c86faa85b910b5b0682e2b99c853dd38f38cee3
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000427.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f36e0ebf866d377211d00434d3a68fa1875e50a012d953f21db09e81020c78de
+size 334377
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000428.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000428.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6e5f6ff29b38590ef1ba8eb227f82a191bdf2756
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000428.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4b6feb7831b787581f07ce71a076eed0f55434a13bcea619640d88bb936fb07f
+size 388926
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000435.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000435.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..372c78ce043ae27f8fba5e43573a01b95db1b8eb
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000435.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1b297e3292a65a83f13f2dfb24048af37d507029d071727e9958f934f5d44fca
+size 270630
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000437.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000437.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..9b45b949816308f499f1cf8c086a5e23ebdc789d
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000437.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:be44bcca55bdfa5d365df861d084d4773d778a9bbdbd644901e93022c0137478
+size 655290
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000440.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000440.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..775e9ee2059b11d8279e3f7fe79251ee07cd03df
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000440.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dae925bc48ab12d3a73fdb42e6c397827ca893e42592823c4e3071e5a3ad8154
+size 305300
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000442.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000442.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..f4bd93cf7d013519ce71c5a9232cf75f650e21c6
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000442.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9ad0c943a570fe1a5aa72368c39e9ad430b274c05e3e1aa99107d617646a7cf8
+size 306338
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000443.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000443.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..fbdd99d4c0219486ab167ab52d61fe0cf139e136
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000443.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9fc1e4c219adf0635fb478b114a50e99a6d5f5e71e4f67f3a95dd2c7c7a7a695
+size 371503
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000447.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000447.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..d2d616eadff6b47b28e0158882cb7e3316b2201f
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000447.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:24dd3832e5c7dc61dfdd1a0f8e2c2d3bd38f4b06de251c72867200430654f0d9
+size 264543
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000451.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000451.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..2a09caa104da538c88e00023862b7f97e95724ac
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000451.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cf62f1268a220d062fbff25c8da1e2dcf31466fb5c531647229c1e6a597ddc24
+size 281687
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000453.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000453.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..480c47805b3534f6d03c92cacf2dc49e05f9d6f3
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000453.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4a174ace64d7d07cd71c6e75ed83c89b9828ab0a97630558027c4fc246c4b262
+size 288948
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000458.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000458.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..b9bf97f2dcbe7fbaefff5d41f130d80584ea1c1d
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000458.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f591f2558d5dac4ebe4c9aa3b4bbd1a2171da04e8f97e10f5f745981eeba46b
+size 255914
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000459.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000459.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..3e47aac5e8c7c6c809425f0ed1f4b6d05399ea85
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000459.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a32f1eb2c976cb9224bdfc75872639037130b42a72d9540599bbc59a0d84f72e
+size 226390
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000460.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000460.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ce4eb28de6d984a124328c79adcc45f8954a32b5
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000460.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5e516fc18bbab4dbb6c8c7bb0bb88f9e3d2e564b699eca72ea6e2767a58da59f
+size 259417
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000463.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000463.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..36b5c758328e8dea254d529cdec8a5109c4b4b71
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000463.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:45f48e191f6d4eb361ebe77789ebad834c9221db11be6679fdbb03b647762616
+size 279255
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000468.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000468.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..10df955dc08b4feb16f6a7e7e7b9ca8432b1aba6
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000468.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5405679db9c01e4acaac334e3db3091128b7bf6bc56ec80df005a762726ab9cc
+size 318768
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000469.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000469.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..6b0b3f72f026afb30f6024b679d6401d09d6dce8
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000469.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6b59e83b9a276a27695e96b058e1bc63bf0ffb2493e1f258236fb54c366dd925
+size 313039
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000470.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000470.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..44381e8eb075964ac884ad06ded59e41da574a88
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000470.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e785d4d1e9984a26930de9734225d9488473fa66c19d2a19257d1f5621a994a6
+size 272778
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000475.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000475.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..ead91aba96b0e910f471aa191bb5f3cdcb6f5e5a
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000475.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3e27de1c4b0b29597177307040809c1760c559eecf38e06cf23720bf3efe86b
+size 293500
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000476.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000476.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..89dbb00e4d0bb9eeb66cd08a190fcffa13998551
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000476.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:390bc818c423ebedbe58d04364406fe7d2c969c194b23575c9296d1681bfd101
+size 347755
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000485.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000485.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..04006192f044181c119369bcc54a50b1b6a30a06
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000485.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f92ca250d4e7d7b4e72a922fbcc88c40a5398ade616cacf4b0ca384cccaacffd
+size 363975
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000486.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000486.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..97b5a09c80bf23401962d0734b760664b0512df2
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000486.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ead3e902a59b4c198413ebb9bb90bcd1196c366e5baa9a2a5fb3b18a2e596410
+size 269828
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000488.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000488.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..217e48b4ed24698eda2c62781f21d4d61b21afb2
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000488.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:94813c47c5f358459de8bf27e5fb0500abc2dc01b7b8b27657eaaba84cd608dc
+size 313636
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000491.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000491.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..a26e33d62f6006ddb88e3e32d0ff188fc745494d
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000491.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5df9676cca3c3c0ad4f34c3b0aa5e979f225d8b9f00940807dd915df0f55570e
+size 313253
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000493.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000493.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..427e979c9ab47936ba03ba0afbfa65fb87d0182b
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000493.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:cd678bc9443da5d8644b86573100517091b4a474f7538054b074fd1fda1dfaa1
+size 479481
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000494.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000494.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..0e32207acbf184d702badfd438d5b2da770cec72
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000494.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff6df3eaa7ac9905ed83bfbd18cdf4bcdba8651580d8f0c2ad1521890888434b
+size 301076
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000495.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000495.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..c43dc7a09b27d7490173ac82556b8c30a639d1d4
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000495.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:75a4e49056c4a90ebc4e8721732b09d52ef9be27279355ed0b241c79bf92cc36
+size 359830
diff --git a/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000499.mp4 b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000499.mp4
new file mode 100644
index 0000000000000000000000000000000000000000..e6d706ae13f44e51bcc44efa24889d74752e1654
--- /dev/null
+++ b/target/atomic/CoffeeSetupMug/20250813/lerobot/videos/chunk-000/observation.images.robot0_eye_in_hand/episode_000499.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2bf8ca66fe723fa5fe887d19ebb54dabae99b111c69958221d1d2c8d0ad3f2df
+size 272536
diff --git a/target/atomic/OpenDrawer/20250816/lerobot/extras/dataset_meta.json b/target/atomic/OpenDrawer/20250816/lerobot/extras/dataset_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..79fbd69b36a25799b2b5e99657430330abb735f3
--- /dev/null
+++ b/target/atomic/OpenDrawer/20250816/lerobot/extras/dataset_meta.json
@@ -0,0 +1,474 @@
+{
+    "date": "8-17-2025",
+    "env": "OpenDrawer",
+    "env_args": {
+        "type": 1,
+        "env_name": "OpenDrawer",
+        "env_version": "0.5.1",
+        "robosuite_version": "1.5.2",
+        "mujoco_version": "3.3.1",
+        "env_kwargs": {
+            "env_name": "OpenDrawer",
+            "robots": "PandaOmron",
+            "layout_ids": null,
+            "style_ids": null,
+            "obj_instance_split": "target",
+            "clutter_mode": 1,
+            "translucent_robot": false,
+            "layout_and_style_ids": [
+                [
+                    1,
+                    1
+                ],
+                [
+                    2,
+                    2
+                ],
+                [
+                    3,
+                    3
+                ],
+                [
+                    4,
+                    4
+                ],
+                [
+                    5,
+                    5
+                ],
+                [
+                    6,
+                    6
+                ],
+                [
+                    7,
+                    7
+                ],
+                [
+                    8,
+                    8
+                ],
+                [
+                    9,
+                    9
+                ],
+                [
+                    10,
+                    10
+                ]
+            ],
+            "controller_configs": {
+                "type": "HYBRID_MOBILE_BASE",
+                "composite_controller_specific_configs": {
+                    "left_offset": [
+                        0.0,
+                        0.0,
+                        0.0
+                    ],
+                    "right_offset": [
+                        -0.15,
+                        0.0,
+                        0.35
+                    ],
+                    "left2arm_transform": [
+                        [
+                            1,
+                            0,
+                            0,
+                            0
+                        ],
+                        [
+                            0,
+                            1,
+                            0,
+                            0
+                        ],
+                        [
+                            0,
+                            0,
+                            1,
+                            0
+                        ],
+                        [
+                            0,
+                            0,
+                            0,
+                            1
+                        ]
+                    ],
+                    "right2arm_transform": [
+                        [
+                            0,
+                            0.7071068,
+                            0.7071068,
+                            0
+                        ],
+                        [
+                            1,
+                            0,
+                            0,
+                            0
+                        ],
+                        [
+                            0,
+                            0.7071068,
+                            -0.7071068,
+                            0
+                        ],
+                        [
+                            0,
+                            0,
+                            0,
+                            1
+                        ]
+                    ],
+                    "left2finger_transform": [
+                        [
+                            1,
+                            0,
+                            0,
+                            0
+                        ],
+                        [
+                            0,
+                            1,
+                            0,
+                            0
+                        ],
+                        [
+                            0,
+                            0,
+                            1,
+                            0
+                        ],
+                        [
+                            0,
+                            0,
+                            0,
+                            1
+                        ]
+                    ],
+                    "right2finger_transform": [
+                        [
+                            1,
+                            0,
+                            0,
+                            0
+                        ],
+                        [
+                            0,
+                            1,
+                            0,
+                            0
+                        ],
+                        [
+                            0,
+                            0,
+                            1,
+                            0
+                        ],
+                        [
+                            0,
+                            0,
+                            0,
+                            1
+                        ]
+                    ],
+                    "body_part_ordering": [
+                        "right",
+                        "right_gripper",
+                        "base",
+                        "torso"
+                    ]
+                },
+                "body_parts": {
+                    "right": {
+                        "type": "OSC_POSE",
+                        "input_max": 1,
+                        "input_min": -1,
+                        "output_max": [
+                            0.05,
+                            0.05,
+                            0.05,
+                            0.5,
+                            0.5,
+                            0.5
+                        ],
+                        "output_min": [
+                            -0.05,
+                            -0.05,
+                            -0.05,
+                            -0.5,
+                            -0.5,
+                            -0.5
+                        ],
+                        "kp": 150,
+                        "damping_ratio": 1,
+                        "impedance_mode": "fixed",
+                        "kp_limits": [
+                            0,
+                            300
+                        ],
+                        "damping_ratio_limits": [
+                            0,
+                            10
+                        ],
+                        "position_limits": null,
+                        "orientation_limits": null,
+                        "uncouple_pos_ori": true,
+                        "input_type": "delta",
+                        "input_ref_frame": "base",
+                        "interpolation": null,
+                        "ramp_ratio": 0.2,
+                        "gripper": {
+                            "type": "GRIP"
+                        }
+                    },
+                    "torso": {
+                        "type": "JOINT_POSITION",
+                        "interpolation": "null",
+                        "kp": 2000
+                    },
+                    "base": {
+                        "type": "JOINT_VELOCITY",
+                        "interpolation": "null"
+                    }
+                }
+            }
+        }
+    },
+    "env_info": {
+        "env_name": "OpenDrawer",
+        "robots": "PandaOmron",
+        "layout_ids": null,
+        "style_ids": null,
+        "obj_instance_split": "target",
+        "clutter_mode": 1,
+        "translucent_robot": true,
+        "layout_and_style_ids": [
+            [
+                1,
+                1
+            ],
+            [
+                2,
+                2
+            ],
+            [
+                3,
+                3
+            ],
+            [
+                4,
+                4
+            ],
+            [
+                5,
+                5
+            ],
+            [
+                6,
+                6
+            ],
+            [
+                7,
+                7
+            ],
+            [
+                8,
+                8
+            ],
+            [
+                9,
+                9
+            ],
+            [
+                10,
+                10
+            ]
+        ],
+        "controller_configs": {
+            "type": "HYBRID_MOBILE_BASE",
+            "composite_controller_specific_configs": {
+                "left_offset": [
+                    0.0,
+                    0.0,
+                    0.0
+                ],
+                "right_offset": [
+                    -0.15,
+                    0.0,
+                    0.35
+                ],
+                "left2arm_transform": [
+                    [
+                        1,
+                        0,
+                        0,
+                        0
+                    ],
+                    [
+                        0,
+                        1,
+                        0,
+                        0
+                    ],
+                    [
+                        0,
+                        0,
+                        1,
+                        0
+                    ],
+                    [
+                        0,
+                        0,
+                        0,
+                        1
+                    ]
+                ],
+                "right2arm_transform": [
+                    [
+                        0,
+                        0.7071068,
+                        0.7071068,
+                        0
+                    ],
+                    [
+                        1,
+                        0,
+                        0,
+                        0
+                    ],
+                    [
+                        0,
+                        0.7071068,
+                        -0.7071068,
+                        0
+                    ],
+                    [
+                        0,
+                        0,
+                        0,
+                        1
+                    ]
+                ],
+                "left2finger_transform": [
+                    [
+                        1,
+                        0,
+                        0,
+                        0
+                    ],
+                    [
+                        0,
+                        1,
+                        0,
+                        0
+                    ],
+                    [
+                        0,
+                        0,
+                        1,
+                        0
+                    ],
+                    [
+                        0,
+                        0,
+                        0,
+                        1
+                    ]
+                ],
+                "right2finger_transform": [
+                    [
+                        1,
+                        0,
+                        0,
+                        0
+                    ],
+                    [
+                        0,
+                        1,
+                        0,
+                        0
+                    ],
+                    [
+                        0,
+                        0,
+                        1,
+                        0
+                    ],
+                    [
+                        0,
+                        0,
+                        0,
+                        1
+                    ]
+                ],
+                "body_part_ordering": [
+                    "right",
+                    "right_gripper",
+                    "base",
+                    "torso"
+                ]
+            },
+            "body_parts": {
+                "right": {
+                    "type": "OSC_POSE",
+                    "input_max": 1,
+                    "input_min": -1,
+                    "output_max": [
+                        0.05,
+                        0.05,
+                        0.05,
+                        0.5,
+                        0.5,
+                        0.5
+                    ],
+                    "output_min": [
+                        -0.05,
+                        -0.05,
+                        -0.05,
+                        -0.5,
+                        -0.5,
+                        -0.5
+                    ],
+                    "kp": 150,
+                    "damping_ratio": 1,
+                    "impedance_mode": "fixed",
+                    "kp_limits": [
+                        0,
+                        300
+                    ],
+                    "damping_ratio_limits": [
+                        0,
+                        10
+                    ],
+                    "position_limits": null,
+                    "orientation_limits": null,
+                    "uncouple_pos_ori": true,
+                    "input_type": "delta",
+                    "input_ref_frame": "base",
+                    "interpolation": null,
+                    "ramp_ratio": 0.2,
+                    "gripper": {
+                        "type": "GRIP"
+                    }
+                },
+                "torso": {
+                    "type": "JOINT_POSITION",
+                    "interpolation": "null",
+                    "kp": 2000
+                },
+                "base": {
+                    "type": "JOINT_VELOCITY",
+                    "interpolation": "null"
+                }
+            }
+        }
+    },
+    "mujoco_version": "3.3.1",
+    "robocasa_version": "0.5.1",
+    "robosuite_version": "1.5.2",
+    "time": "21:7:53",
+    "total": 137431
+}
\ No newline at end of file
diff --git a/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000018/ep_meta.json b/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000018/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..468d00dc0c711b227abc0d794ea7e667f052cda0
--- /dev/null
+++ b/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000018/ep_meta.json
@@ -0,0 +1,590 @@
+{
+    "layout_id": 10,
+    "style_id": 10,
+    "object_cfgs": [
+        {
+            "name": "drawer_obj",
+            "obj_groups": [
+                "tool",
+                "utensil"
+            ],
+            "graspable": true,
+            "max_size": [
+                null,
+                null,
+                0.1
+            ],
+            "placement": {
+                "fixture": "stack_4_main_group_4",
+                "size": [
+                    0.3,
+                    0.3
+                ],
+                "pos": [
+                    null,
+                    -0.75
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "wooden_spoon",
+                    "utensil"
+                ],
+                "groups": [
+                    "tool",
+                    "utensil"
+                ],
+                "cat": "wooden_spoon",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon008/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.6779999999999999,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "distr_counter_1",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_1_main_group",
+                "sample_region_kwargs": {
+                    "ref": "stack_4_main_group_4",
+                    "min_size": [
+                        0.03373,
+                        0.03373,
+                        0.0348175
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.5
+                ],
+                "pos": [
+                    null,
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "ice_cube",
+                    "iced_item",
+                    "in_container"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "ice_cube",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/ice_cube/IceCube004/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.8,
+                    0.65
+                ],
+                "offset": [
+                    0.5,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "distr_counter_2",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_1_main_group",
+                "sample_region_kwargs": {
+                    "ref": "stack_4_main_group_4",
+                    "min_size": [
+                        0.078265734,
+                        0.078257822,
+                        0.12925874649999997
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.5
+                ],
+                "pos": [
+                    null,
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "mayonnaise",
+                    "condiment"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "mayonnaise",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/mayonnaise/Mayonnaise011/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.8,
+                    0.65
+                ],
+                "offset": [
+                    0.5,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_room": {
+            "cls": "Wall"
+        },
+        "wall_front_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_2_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_front_room": {
+            "cls": "Floor"
+        },
+        "floor_front_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "right_corner_box_main_group": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_4": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_left_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "box_left_top_left_group": {
+            "cls": "Box"
+        },
+        "box_left_bottom_left_group": {
+            "cls": "Box"
+        },
+        "box_right_top_left_group": {
+            "cls": "Box"
+        },
+        "box_right_bottom_left_group": {
+            "cls": "Box"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_2": {
+            "cls": "Drawer"
+        },
+        "shelves_front_group": {
+            "cls": "OpenCabinet"
+        },
+        "bottom_front_group_base": {
+            "cls": "Box"
+        },
+        "bottom_front_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_front_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_middle_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_front_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_front_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "utensil_set_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_dining_area_group": {
+            "cls": "Counter"
+        },
+        "paper_towel_dining_area_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_dining_area_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Open the right drawer.",
+    "fixture_refs": {
+        "drawer": "stack_4_main_group_4"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.210665280191592,
+        -0.8929052087636319,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000037/ep_meta.json b/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000037/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7b9435fcd274fd76938ab1cff326549b5af48f4a
--- /dev/null
+++ b/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000037/ep_meta.json
@@ -0,0 +1,588 @@
+{
+    "layout_id": 8,
+    "style_id": 8,
+    "object_cfgs": [
+        {
+            "name": "drawer_obj",
+            "obj_groups": [
+                "tool",
+                "utensil"
+            ],
+            "graspable": true,
+            "max_size": [
+                null,
+                null,
+                0.1
+            ],
+            "placement": {
+                "fixture": "stack_2_right_group_4",
+                "size": [
+                    0.3,
+                    0.3
+                ],
+                "pos": [
+                    null,
+                    -0.75
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "rolling_pin",
+                    "tool",
+                    "in_container"
+                ],
+                "groups": [
+                    "tool",
+                    "utensil"
+                ],
+                "cat": "rolling_pin",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/rolling_pin/rolling_pin_3/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.328,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "distr_counter_1",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "sample_region_kwargs": {
+                    "ref": "stack_2_right_group_4",
+                    "min_size": [
+                        0.06310741471999998,
+                        0.13106280179999996,
+                        0.06354821395999997
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.5
+                ],
+                "pos": [
+                    null,
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "eggplant",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "eggplant",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_3/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.44999999999999973,
+                    0.65
+                ],
+                "offset": [
+                    0.8250000000000002,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "distr_counter_2",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "sample_region_kwargs": {
+                    "ref": "stack_2_right_group_4",
+                    "min_size": [
+                        0.06113774681792159,
+                        0.1277754213980615,
+                        0.011578119802854649
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.5
+                ],
+                "pos": [
+                    null,
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "chocolate",
+                    "sweets",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "chocolate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/chocolate/chocolate_8/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.44999999999999973,
+                    0.65
+                ],
+                "offset": [
+                    0.8250000000000002,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "distr_counter_3",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "sample_region_kwargs": {
+                    "ref": "stack_2_right_group_4",
+                    "min_size": [
+                        0.06521782250000001,
+                        0.06481546740000002,
+                        0.11593323879999999
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.5
+                ],
+                "pos": [
+                    null,
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "coffee_cup",
+                    "drink"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "coffee_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/coffee_cup/coffee_cup_9/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.44999999999999973,
+                    0.65
+                ],
+                "offset": [
+                    0.8250000000000002,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "flower_vase_right_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Open the right drawer.",
+    "fixture_refs": {
+        "drawer": "stack_2_right_group_4"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.541239376942494,
+        -2.160591334307489,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000049/ep_meta.json b/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000049/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3b6c2339630059c1c63f26fdc95f20e96f847e0
--- /dev/null
+++ b/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000049/ep_meta.json
@@ -0,0 +1,649 @@
+{
+    "layout_id": 10,
+    "style_id": 10,
+    "object_cfgs": [
+        {
+            "name": "drawer_obj",
+            "obj_groups": [
+                "tool",
+                "utensil"
+            ],
+            "graspable": true,
+            "max_size": [
+                null,
+                null,
+                0.1
+            ],
+            "placement": {
+                "fixture": "stack_2_main_group_3",
+                "size": [
+                    0.3,
+                    0.3
+                ],
+                "pos": [
+                    null,
+                    -0.75
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "reamer",
+                    "tool",
+                    "in_container"
+                ],
+                "groups": [
+                    "tool",
+                    "utensil"
+                ],
+                "cat": "reamer",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/reamer/Reamer008/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "distr_counter_1",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "stack_2_main_group_3",
+                    "min_size": [
+                        0.45,
+                        0.08,
+                        0.08
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.5
+                ],
+                "pos": [
+                    null,
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "aluminum_foil",
+                    "tool",
+                    "in_container"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "aluminum_foil",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/aluminum_foil/AluminumFoil006/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.49999999999999956,
+                    0.65
+                ],
+                "offset": [
+                    0.8750000000000002,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "distr_counter_2",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "stack_2_main_group_3",
+                    "min_size": [
+                        0.025089015209155997,
+                        0.16898104405588737,
+                        0.026982887900000002
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.5
+                ],
+                "pos": [
+                    null,
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "carrot",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "food_set1",
+                    "group1"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "carrot",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_7/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.49999999999999956,
+                    0.65
+                ],
+                "offset": [
+                    0.8750000000000002,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "distr_counter_3",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "stack_2_main_group_3",
+                    "min_size": [
+                        0.033233299,
+                        0.26332746949999997,
+                        0.031146994499999997
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.5
+                ],
+                "pos": [
+                    null,
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tongs",
+                    "tool",
+                    "in_container"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "tongs",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tongs/Tongs008/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.49999999999999956,
+                    0.65
+                ],
+                "offset": [
+                    0.8750000000000002,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_room": {
+            "cls": "Wall"
+        },
+        "wall_front_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_2_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_front_room": {
+            "cls": "Floor"
+        },
+        "floor_front_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "right_corner_box_main_group": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_4": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_left_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "box_left_top_left_group": {
+            "cls": "Box"
+        },
+        "box_left_bottom_left_group": {
+            "cls": "Box"
+        },
+        "box_right_top_left_group": {
+            "cls": "Box"
+        },
+        "box_right_bottom_left_group": {
+            "cls": "Box"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_2": {
+            "cls": "Drawer"
+        },
+        "shelves_front_group": {
+            "cls": "OpenCabinet"
+        },
+        "bottom_front_group_base": {
+            "cls": "Box"
+        },
+        "bottom_front_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_front_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_middle_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_front_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_front_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "utensil_set_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_dining_area_group": {
+            "cls": "Counter"
+        },
+        "paper_towel_dining_area_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_dining_area_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Open the left drawer.",
+    "fixture_refs": {
+        "drawer": "stack_2_main_group_3"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.91919640300682,
+        -0.9333700577710465,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000056/ep_meta.json b/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000056/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b7562a850a6f3aa8b0a0bcbb5bb82364ffb7616a
--- /dev/null
+++ b/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000056/ep_meta.json
@@ -0,0 +1,590 @@
+{
+    "layout_id": 10,
+    "style_id": 10,
+    "object_cfgs": [
+        {
+            "name": "drawer_obj",
+            "obj_groups": [
+                "tool",
+                "utensil"
+            ],
+            "graspable": true,
+            "max_size": [
+                null,
+                null,
+                0.1
+            ],
+            "placement": {
+                "fixture": "stack_2_main_group_2",
+                "size": [
+                    0.3,
+                    0.3
+                ],
+                "pos": [
+                    null,
+                    -0.75
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "measuring_cup",
+                    "tool",
+                    "in_container"
+                ],
+                "groups": [
+                    "tool",
+                    "utensil"
+                ],
+                "cat": "measuring_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup011/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "distr_counter_1",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "stack_2_main_group_2",
+                    "min_size": [
+                        0.06355554164999998,
+                        0.06234664634999998,
+                        0.068231406375
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.5
+                ],
+                "pos": [
+                    null,
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "jam",
+                    "packaged_food"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "jam",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/jam/jam_5/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.4999999999999996,
+                    0.65
+                ],
+                "offset": [
+                    0.3750000000000002,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "distr_counter_2",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "stack_2_main_group_2",
+                    "min_size": [
+                        0.054376993,
+                        0.35350574449999994,
+                        0.009628012500000002
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.5
+                ],
+                "pos": [
+                    null,
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "wooden_spoon",
+                    "utensil"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "wooden_spoon",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon011/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.4999999999999996,
+                    0.65
+                ],
+                "offset": [
+                    0.3750000000000002,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_room": {
+            "cls": "Wall"
+        },
+        "wall_front_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_2_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_front_room": {
+            "cls": "Floor"
+        },
+        "floor_front_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "right_corner_box_main_group": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_4": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_left_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "box_left_top_left_group": {
+            "cls": "Box"
+        },
+        "box_left_bottom_left_group": {
+            "cls": "Box"
+        },
+        "box_right_top_left_group": {
+            "cls": "Box"
+        },
+        "box_right_bottom_left_group": {
+            "cls": "Box"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_2": {
+            "cls": "Drawer"
+        },
+        "shelves_front_group": {
+            "cls": "OpenCabinet"
+        },
+        "bottom_front_group_base": {
+            "cls": "Box"
+        },
+        "bottom_front_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_front_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_middle_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_front_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_front_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "utensil_set_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_dining_area_group": {
+            "cls": "Counter"
+        },
+        "paper_towel_dining_area_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_dining_area_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Open the right drawer.",
+    "fixture_refs": {
+        "drawer": "stack_2_main_group_2"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        1.5406415616405813,
+        -0.873882090101926,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000064/ep_meta.json b/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000064/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2dfb6830d2a7960ae7744f645c6a057f9653a494
--- /dev/null
+++ b/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000064/ep_meta.json
@@ -0,0 +1,501 @@
+{
+    "layout_id": 4,
+    "style_id": 4,
+    "object_cfgs": [
+        {
+            "name": "drawer_obj",
+            "obj_groups": [
+                "tool",
+                "utensil"
+            ],
+            "graspable": true,
+            "max_size": [
+                null,
+                null,
+                0.1
+            ],
+            "placement": {
+                "fixture": "stack_3_left_group_3",
+                "size": [
+                    0.3,
+                    0.3
+                ],
+                "pos": [
+                    null,
+                    -0.75
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "rolling_pin",
+                    "tool",
+                    "in_container"
+                ],
+                "groups": [
+                    "tool",
+                    "utensil"
+                ],
+                "cat": "rolling_pin",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/rolling_pin/rolling_pin_3/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "distr_counter_1",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_1_left_left_group",
+                "sample_region_kwargs": {
+                    "ref": "stack_3_left_group_3",
+                    "min_size": [
+                        0.04873441594999998,
+                        0.04873367695999997,
+                        0.1954929795949999
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.5
+                ],
+                "pos": [
+                    null,
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "beer",
+                    "drink",
+                    "alcohol"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "beer",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/beer/beer_8/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.5000000000000004,
+                    0.65
+                ],
+                "offset": [
+                    1.25,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "distr_counter_2",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_1_left_left_group",
+                "sample_region_kwargs": {
+                    "ref": "stack_3_left_group_3",
+                    "min_size": [
+                        0.09074655000000001,
+                        0.08944823,
+                        0.19555192
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.5
+                ],
+                "pos": [
+                    null,
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "soap_dispenser",
+                    "cleaner"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "soap_dispenser",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/soap_dispenser/SoapDispenser010/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.5000000000000004,
+                    0.65
+                ],
+                "offset": [
+                    1.25,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_right_main_group": {
+            "cls": "Counter"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "fridge_cab_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_left_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_left_group": {
+            "cls": "Box"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_left_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Open the right drawer.",
+    "fixture_refs": {
+        "drawer": "stack_3_left_group_3"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        0.9177915218572508,
+        -1.3796254071286909,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415963267948968
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000075/ep_meta.json b/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000075/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fc682611ad5e71923730d307d2e18fd15551d0e9
--- /dev/null
+++ b/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000075/ep_meta.json
@@ -0,0 +1,642 @@
+{
+    "layout_id": 9,
+    "style_id": 9,
+    "object_cfgs": [
+        {
+            "name": "drawer_obj",
+            "obj_groups": [
+                "tool",
+                "utensil"
+            ],
+            "graspable": true,
+            "max_size": [
+                null,
+                null,
+                0.1
+            ],
+            "placement": {
+                "fixture": "stack_2_main_group_2",
+                "size": [
+                    0.3,
+                    0.3
+                ],
+                "pos": [
+                    null,
+                    -0.75
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "whisk",
+                    "utensil"
+                ],
+                "groups": [
+                    "tool",
+                    "utensil"
+                ],
+                "cat": "whisk",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/whisk/Whisk004/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "distr_counter_1",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "stack_2_main_group_2",
+                    "min_size": [
+                        0.048243667599999984,
+                        0.16054589998999996,
+                        0.058493675309999986
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.5
+                ],
+                "pos": [
+                    null,
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "eggplant",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "eggplant",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_4/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.5,
+                    0.65
+                ],
+                "offset": [
+                    -0.25,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "distr_counter_2",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "stack_2_main_group_2",
+                    "min_size": [
+                        0.030853162299999994,
+                        0.11254851939999999,
+                        0.15383609724999997
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.5
+                ],
+                "pos": [
+                    null,
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "cereal",
+                    "packaged_food"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "cereal",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cereal/cereal_7/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.5,
+                    0.65
+                ],
+                "offset": [
+                    -0.25,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "distr_counter_3",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "stack_2_main_group_2",
+                    "min_size": [
+                        0.2599940797999999,
+                        0.2599929331999999,
+                        0.08604590539999997
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.5
+                ],
+                "pos": [
+                    null,
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "bowl",
+                    "stackable",
+                    "receptacle",
+                    "group1",
+                    "container_set2"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "bowl",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_7/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.5,
+                    0.65
+                ],
+                "offset": [
+                    -0.25,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_1_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_2_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "salt_shaker_front_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_front_group_auxiliary_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "plant_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_left_group": {
+            "cls": "Accessory"
+        },
+        "stack_left_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_right_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "cab_top_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_right_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "side_bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "side_bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_3": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Open the right drawer.",
+    "fixture_refs": {
+        "drawer": "stack_2_main_group_2"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        1.517077936474128,
+        -0.8641528031913364,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000079/ep_meta.json b/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000079/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a50b911f218457e39895999aaee7518703994603
--- /dev/null
+++ b/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000079/ep_meta.json
@@ -0,0 +1,534 @@
+{
+    "layout_id": 8,
+    "style_id": 8,
+    "object_cfgs": [
+        {
+            "name": "drawer_obj",
+            "obj_groups": [
+                "tool",
+                "utensil"
+            ],
+            "graspable": true,
+            "max_size": [
+                null,
+                null,
+                0.1
+            ],
+            "placement": {
+                "fixture": "stack_2_main_group_2",
+                "size": [
+                    0.3,
+                    0.3
+                ],
+                "pos": [
+                    null,
+                    -0.75
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "dish_brush",
+                    "tool",
+                    "cleaner",
+                    "in_container"
+                ],
+                "groups": [
+                    "tool",
+                    "utensil"
+                ],
+                "cat": "dish_brush",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/dish_brush/DishBrush008/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "distr_counter_1",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "stack_2_main_group_2",
+                    "min_size": [
+                        0.027495000000000002,
+                        0.0274975,
+                        0.02749625
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.5
+                ],
+                "pos": [
+                    null,
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "ice_cube",
+                    "iced_item",
+                    "in_container"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "ice_cube",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/ice_cube/IceCube006/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.5,
+                    0.65
+                ],
+                "offset": [
+                    -0.25,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "distr_counter_2",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "stack_2_main_group_2",
+                    "min_size": [
+                        0.08571524345999998,
+                        0.09709861193999997,
+                        0.034065928709999985
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.5
+                ],
+                "pos": [
+                    null,
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "croissant",
+                    "pastry",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "croissant",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/croissant/croissant_8/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.5,
+                    0.65
+                ],
+                "offset": [
+                    -0.25,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "flower_vase_right_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Open the right drawer.",
+    "fixture_refs": {
+        "drawer": "stack_2_main_group_2"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        1.4748519532525883,
+        -0.9483361732022072,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000087/ep_meta.json b/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000087/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d5f1ba6447ed59682944cc4180d837745b91a6d1
--- /dev/null
+++ b/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000087/ep_meta.json
@@ -0,0 +1,504 @@
+{
+    "layout_id": 4,
+    "style_id": 4,
+    "object_cfgs": [
+        {
+            "name": "drawer_obj",
+            "obj_groups": [
+                "tool",
+                "utensil"
+            ],
+            "graspable": true,
+            "max_size": [
+                null,
+                null,
+                0.1
+            ],
+            "placement": {
+                "fixture": "stack_3_left_group_3",
+                "size": [
+                    0.3,
+                    0.3
+                ],
+                "pos": [
+                    null,
+                    -0.75
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "peeler",
+                    "tool",
+                    "in_container"
+                ],
+                "groups": [
+                    "tool",
+                    "utensil"
+                ],
+                "cat": "peeler",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/peeler/Peeler006/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "distr_counter_1",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_1_left_left_group",
+                "sample_region_kwargs": {
+                    "ref": "stack_3_left_group_3",
+                    "min_size": [
+                        0.05844073788,
+                        0.09668424219999999,
+                        0.0200213916
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.5
+                ],
+                "pos": [
+                    null,
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "bread_flat",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "bread_flat",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_3/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.5000000000000004,
+                    0.65
+                ],
+                "offset": [
+                    1.25,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "distr_counter_2",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_1_left_left_group",
+                "sample_region_kwargs": {
+                    "ref": "stack_3_left_group_3",
+                    "min_size": [
+                        0.05884819800000001,
+                        0.05441408160000001,
+                        0.05742335940000001
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.5
+                ],
+                "pos": [
+                    null,
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tangerine",
+                    "fruit",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "tangerine",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tangerine/tangerine_5/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.5000000000000004,
+                    0.65
+                ],
+                "offset": [
+                    1.25,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_right_main_group": {
+            "cls": "Counter"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "fridge_cab_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_left_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_left_group": {
+            "cls": "Box"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_left_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Open the right drawer.",
+    "fixture_refs": {
+        "drawer": "stack_3_left_group_3"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        0.8897465797101641,
+        -1.4262643978256178,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415963267948968
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000140/ep_meta.json b/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000140/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0cffa695cecc48b167eee5845a56baa4e593ea92
--- /dev/null
+++ b/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000140/ep_meta.json
@@ -0,0 +1,568 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "drawer_obj",
+            "obj_groups": [
+                "tool",
+                "utensil"
+            ],
+            "graspable": true,
+            "max_size": [
+                null,
+                null,
+                0.1
+            ],
+            "placement": {
+                "fixture": "stack_3_main_group_2",
+                "size": [
+                    0.3,
+                    0.3
+                ],
+                "pos": [
+                    null,
+                    -0.75
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pizza_cutter",
+                    "tool",
+                    "in_container"
+                ],
+                "groups": [
+                    "tool",
+                    "utensil"
+                ],
+                "cat": "pizza_cutter",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pizza_cutter/PizzaCutter004/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "distr_counter_1",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "stack_3_main_group_2",
+                    "min_size": [
+                        0.13921341449999994,
+                        0.12763320299999995,
+                        0.15149611799999993
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.5
+                ],
+                "pos": [
+                    null,
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "jug",
+                    "receptacle"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "jug",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/jug/jug_6/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.5,
+                    0.65
+                ],
+                "offset": [
+                    -1.65,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "distr_counter_2",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "stack_3_main_group_2",
+                    "min_size": [
+                        0.05619158315500001,
+                        0.056274295475000014,
+                        0.08976846480750002
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.5
+                ],
+                "pos": [
+                    null,
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "yogurt",
+                    "dairy",
+                    "packaged_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "yogurt",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/yogurt/yogurt_3/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.5,
+                    0.65
+                ],
+                "offset": [
+                    -1.65,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "distr_counter_3",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "stack_3_main_group_2",
+                    "min_size": [
+                        0.10011528593749999,
+                        0.15765744375000001,
+                        0.09162266718749999
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.5
+                ],
+                "pos": [
+                    null,
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "teapot",
+                    "receptacle"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "teapot",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/teapot/teapot_6/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.5,
+                    0.65
+                ],
+                "offset": [
+                    -1.65,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Open the left drawer.",
+    "fixture_refs": {
+        "drawer": "stack_3_main_group_2"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        1.9188954810059764,
+        -0.8977975666760643,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000180/ep_meta.json b/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000180/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd4f4e94f867cc9715a619e011420260bb0975c2
--- /dev/null
+++ b/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000180/ep_meta.json
@@ -0,0 +1,664 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "drawer_obj",
+            "obj_groups": [
+                "tool",
+                "utensil"
+            ],
+            "graspable": true,
+            "max_size": [
+                null,
+                null,
+                0.1
+            ],
+            "placement": {
+                "fixture": "stack_1_main_group_3",
+                "size": [
+                    0.3,
+                    0.3
+                ],
+                "pos": [
+                    null,
+                    -0.75
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "measuring_cup",
+                    "tool",
+                    "in_container"
+                ],
+                "groups": [
+                    "tool",
+                    "utensil"
+                ],
+                "cat": "measuring_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup010/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "distr_counter_1",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_1_main_group",
+                "sample_region_kwargs": {
+                    "ref": "stack_1_main_group_3",
+                    "min_size": [
+                        0.08121465051400868,
+                        0.13139488800819277,
+                        0.09255412957687727
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.5
+                ],
+                "pos": [
+                    null,
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "steak",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "steak",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_6/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.5,
+                    0.65
+                ],
+                "offset": [
+                    -0.25,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "distr_counter_2",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_1_main_group",
+                "sample_region_kwargs": {
+                    "ref": "stack_1_main_group_3",
+                    "min_size": [
+                        0.061200779999999996,
+                        0.23250654999999998,
+                        0.1552991
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.5
+                ],
+                "pos": [
+                    null,
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "dish_brush",
+                    "cleaner",
+                    "tool",
+                    "in_container"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "dish_brush",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/dish_brush/DishBrush011/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.5,
+                    0.65
+                ],
+                "offset": [
+                    -0.25,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Open the left drawer.",
+    "fixture_refs": {
+        "drawer": "stack_1_main_group_3"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        1.9267821660448572,
+        -0.9175355610783893,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000218/ep_meta.json b/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000218/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b542c26d522727fbccbc724bcadfae6db0cc9f97
--- /dev/null
+++ b/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000218/ep_meta.json
@@ -0,0 +1,516 @@
+{
+    "layout_id": 6,
+    "style_id": 6,
+    "object_cfgs": [
+        {
+            "name": "drawer_obj",
+            "obj_groups": [
+                "tool",
+                "utensil"
+            ],
+            "graspable": true,
+            "max_size": [
+                null,
+                null,
+                0.1
+            ],
+            "placement": {
+                "fixture": "stack_1_main_group_4",
+                "size": [
+                    0.3,
+                    0.3
+                ],
+                "pos": [
+                    null,
+                    -0.75
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "aluminum_foil",
+                    "tool",
+                    "in_container"
+                ],
+                "groups": [
+                    "tool",
+                    "utensil"
+                ],
+                "cat": "aluminum_foil",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/aluminum_foil/AluminumFoil004/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "distr_counter_1",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "stack_1_main_group_4",
+                    "min_size": [
+                        0.0626902659,
+                        0.06616852335000001,
+                        0.20204941927499998
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.5
+                ],
+                "pos": [
+                    null,
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "water_bottle",
+                    "drink"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "water_bottle",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/water_bottle/water_bottle_5/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.49999999999999956,
+                    0.65
+                ],
+                "offset": [
+                    -1.2500000000000002,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "distr_counter_2",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "stack_1_main_group_4",
+                    "min_size": [
+                        0.24000001920000008,
+                        0.36000000000000015,
+                        0.03516150960000001
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.5
+                ],
+                "pos": [
+                    null,
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tray",
+                    "receptacle",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "tray",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_5/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.49999999999999956,
+                    0.65
+                ],
+                "offset": [
+                    -1.2500000000000002,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "counter_corner_left_main_group": {
+            "cls": "Counter"
+        },
+        "sink_main_group": {
+            "cls": "Sink"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_main_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "stove_right_group": {
+            "cls": "Stove"
+        },
+        "counter_2_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_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_1_left_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "plant_left_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Open the left drawer.",
+    "fixture_refs": {
+        "drawer": "stack_1_main_group_4"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        1.3521787884111902,
+        -0.8545551687427801,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000258/ep_meta.json b/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000258/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0dfacbe279c4eca1b7aa85bc705a084638a6ce61
--- /dev/null
+++ b/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000258/ep_meta.json
@@ -0,0 +1,468 @@
+{
+    "layout_id": 1,
+    "style_id": 1,
+    "object_cfgs": [
+        {
+            "name": "drawer_obj",
+            "obj_groups": [
+                "tool",
+                "utensil"
+            ],
+            "graspable": true,
+            "max_size": [
+                null,
+                null,
+                0.1
+            ],
+            "placement": {
+                "fixture": "stack_4_main_group_2",
+                "size": [
+                    0.3,
+                    0.3
+                ],
+                "pos": [
+                    null,
+                    -0.75
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "whisk",
+                    "utensil"
+                ],
+                "groups": [
+                    "tool",
+                    "utensil"
+                ],
+                "cat": "whisk",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/whisk/Whisk006/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.5779999999999998,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "distr_counter_1",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_right_main_group",
+                "sample_region_kwargs": {
+                    "ref": "stack_4_main_group_2",
+                    "min_size": [
+                        0.06417902790000002,
+                        0.06371702350000003,
+                        0.061594062400000024
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.5
+                ],
+                "pos": [
+                    null,
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tomato",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "tomato",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_5/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.7,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "distr_counter_2",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_right_main_group",
+                "sample_region_kwargs": {
+                    "ref": "stack_4_main_group_2",
+                    "min_size": [
+                        0.07942271989999995,
+                        0.07942271989999995,
+                        0.08583855474999996
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.5
+                ],
+                "pos": [
+                    null,
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "cupcake",
+                    "sweets",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "cupcake",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cupcake/cupcake_6/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.7,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "distr_counter_3",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_right_main_group",
+                "sample_region_kwargs": {
+                    "ref": "stack_4_main_group_2",
+                    "min_size": [
+                        0.07727513359999995,
+                        0.07773732879999995,
+                        0.08070423599999994
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.5
+                ],
+                "pos": [
+                    null,
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "cupcake",
+                    "sweets",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "cupcake",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cupcake/cupcake_9/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.7,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "sink_main_group": {
+            "cls": "Sink"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_right_main_group": {
+            "cls": "Counter"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_4_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_main_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_3_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Open the left drawer.",
+    "fixture_refs": {
+        "drawer": "stack_4_main_group_2"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.128654562641353,
+        -1.0875829254751816,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000259/ep_meta.json b/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000259/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..88aba11410cda342fedc66cf00b7c6aebb0ba293
--- /dev/null
+++ b/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000259/ep_meta.json
@@ -0,0 +1,504 @@
+{
+    "layout_id": 4,
+    "style_id": 4,
+    "object_cfgs": [
+        {
+            "name": "drawer_obj",
+            "obj_groups": [
+                "tool",
+                "utensil"
+            ],
+            "graspable": true,
+            "max_size": [
+                null,
+                null,
+                0.1
+            ],
+            "placement": {
+                "fixture": "stack_3_left_group_3",
+                "size": [
+                    0.3,
+                    0.3
+                ],
+                "pos": [
+                    null,
+                    -0.75
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "dish_brush",
+                    "tool",
+                    "cleaner",
+                    "in_container"
+                ],
+                "groups": [
+                    "tool",
+                    "utensil"
+                ],
+                "cat": "dish_brush",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/dish_brush/DishBrush008/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "distr_counter_1",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_1_left_left_group",
+                "sample_region_kwargs": {
+                    "ref": "stack_3_left_group_3",
+                    "min_size": [
+                        0.07058545141297731,
+                        0.0697481174911964,
+                        0.06970349536528721
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.5
+                ],
+                "pos": [
+                    null,
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "mushroom",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "mushroom",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_9/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.5000000000000004,
+                    0.65
+                ],
+                "offset": [
+                    1.25,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "distr_counter_2",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_1_left_left_group",
+                "sample_region_kwargs": {
+                    "ref": "stack_3_left_group_3",
+                    "min_size": [
+                        0.1323136,
+                        0.244320368,
+                        0.0799136
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.5
+                ],
+                "pos": [
+                    null,
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "measuring_cup",
+                    "tool",
+                    "in_container"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "measuring_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup009/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.5000000000000004,
+                    0.65
+                ],
+                "offset": [
+                    1.25,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_right_main_group": {
+            "cls": "Counter"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "fridge_cab_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_left_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_left_group": {
+            "cls": "Box"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_left_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Open the right drawer.",
+    "fixture_refs": {
+        "drawer": "stack_3_left_group_3"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        0.8664745968282427,
+        -1.4170694561780113,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415963267948968
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000260/ep_meta.json b/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000260/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..23e1c3a8c042eb74b03fe14d964bdc82a5fb60c2
--- /dev/null
+++ b/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000260/ep_meta.json
@@ -0,0 +1,459 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "drawer_obj",
+            "obj_groups": [
+                "tool",
+                "utensil"
+            ],
+            "graspable": true,
+            "max_size": [
+                null,
+                null,
+                0.1
+            ],
+            "placement": {
+                "fixture": "island_cab_left_island_group_4",
+                "size": [
+                    0.3,
+                    0.3
+                ],
+                "pos": [
+                    null,
+                    -0.75
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "measuring_cup",
+                    "tool",
+                    "in_container"
+                ],
+                "groups": [
+                    "tool",
+                    "utensil"
+                ],
+                "cat": "measuring_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup010/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.528,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "distr_counter_1",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "island_cab_left_island_group_4",
+                    "min_size": [
+                        0.06355554164999998,
+                        0.06234664634999998,
+                        0.068231406375
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.5
+                ],
+                "pos": [
+                    null,
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "jam",
+                    "packaged_food"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "jam",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/jam/jam_5/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.9664000186871977,
+                    1.4
+                ],
+                "offset": [
+                    -0.8250000000000002,
+                    2.0816681711721685e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Open the left drawer.",
+    "fixture_refs": {
+        "drawer": "island_cab_left_island_group_4"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.091859481290744,
+        -1.677213811129123,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        4.712296326794897
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000272/ep_meta.json b/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000272/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e8815398d47c6fbc8bfbcf2fb3144cde3fc7d9a
--- /dev/null
+++ b/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000272/ep_meta.json
@@ -0,0 +1,460 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "drawer_obj",
+            "obj_groups": [
+                "tool",
+                "utensil"
+            ],
+            "graspable": true,
+            "max_size": [
+                null,
+                null,
+                0.1
+            ],
+            "placement": {
+                "fixture": "stack_4_main_group_3",
+                "size": [
+                    0.3,
+                    0.3
+                ],
+                "pos": [
+                    null,
+                    -0.75
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "ladle",
+                    "utensil"
+                ],
+                "groups": [
+                    "tool",
+                    "utensil"
+                ],
+                "cat": "ladle",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/ladle/ladle_4/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "distr_counter_1",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "stack_4_main_group_3",
+                    "min_size": [
+                        0.12297786,
+                        0.12364534999999999,
+                        0.02058102
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.5
+                ],
+                "pos": [
+                    null,
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sandwich_bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "sandwich_bread",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sandwich_bread/SandwichBread009/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.817460818110389,
+                    0.65
+                ],
+                "offset": [
+                    0.9912695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Open the right drawer.",
+    "fixture_refs": {
+        "drawer": "stack_4_main_group_3"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.5654244049506616,
+        -0.858276131610551,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000276/ep_meta.json b/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000276/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec03001db0a2147e85a120b12b41e5b5e63721f3
--- /dev/null
+++ b/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000276/ep_meta.json
@@ -0,0 +1,442 @@
+{
+    "layout_id": 5,
+    "style_id": 5,
+    "object_cfgs": [
+        {
+            "name": "drawer_obj",
+            "obj_groups": [
+                "tool",
+                "utensil"
+            ],
+            "graspable": true,
+            "max_size": [
+                null,
+                null,
+                0.1
+            ],
+            "placement": {
+                "fixture": "stack_2_left_group_2",
+                "size": [
+                    0.3,
+                    0.3
+                ],
+                "pos": [
+                    null,
+                    -0.75
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "reamer",
+                    "tool",
+                    "in_container"
+                ],
+                "groups": [
+                    "tool",
+                    "utensil"
+                ],
+                "cat": "reamer",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/reamer/Reamer011/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.303,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "distr_counter_1",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_left_group",
+                "sample_region_kwargs": {
+                    "ref": "stack_2_left_group_2",
+                    "min_size": [
+                        0.06813349897500001,
+                        0.06781113517500002,
+                        0.06432903765000002
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.5
+                ],
+                "pos": [
+                    null,
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "apple",
+                    "fruit",
+                    "food",
+                    "in_container",
+                    "food_set1",
+                    "group1"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "apple",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/apple/apple_7/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0249999999999986,
+                    0.65
+                ],
+                "offset": [
+                    -0.8875000000000006,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "untensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "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_1_left_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_4_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_left_group_2": {
+            "cls": "Drawer"
+        },
+        "flower_vase_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_left_group": {
+            "cls": "Accessory"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_left_group": {
+            "cls": "Accessory"
+        },
+        "digital_scale_left_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_right_main_group": {
+            "cls": "Counter"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Open the right drawer.",
+    "fixture_refs": {
+        "drawer": "stack_2_left_group_2"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        0.8770167362356199,
+        -4.1458599413310315,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415963267948968
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000296/ep_meta.json b/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000296/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8c703b361c9a67c3750b556739ff33a3a43e1bb5
--- /dev/null
+++ b/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000296/ep_meta.json
@@ -0,0 +1,517 @@
+{
+    "layout_id": 6,
+    "style_id": 6,
+    "object_cfgs": [
+        {
+            "name": "drawer_obj",
+            "obj_groups": [
+                "tool",
+                "utensil"
+            ],
+            "graspable": true,
+            "max_size": [
+                null,
+                null,
+                0.1
+            ],
+            "placement": {
+                "fixture": "stack_2_left_group_3",
+                "size": [
+                    0.3,
+                    0.3
+                ],
+                "pos": [
+                    null,
+                    -0.75
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "strainer",
+                    "tool",
+                    "receptacle",
+                    "in_container"
+                ],
+                "groups": [
+                    "tool",
+                    "utensil"
+                ],
+                "cat": "strainer",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/strainer/Strainer010/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "distr_counter_1",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_1_left_group",
+                "sample_region_kwargs": {
+                    "ref": "stack_2_left_group_3",
+                    "min_size": [
+                        0.022569819309467564,
+                        0.3000000060000001,
+                        0.005972531288018706
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.5
+                ],
+                "pos": [
+                    null,
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "knife",
+                    "utensil"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "knife",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_8/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.5000000000000004,
+                    0.65
+                ],
+                "offset": [
+                    0.1499999999999997,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "distr_counter_2",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_1_left_group",
+                "sample_region_kwargs": {
+                    "ref": "stack_2_left_group_3",
+                    "min_size": [
+                        0.07374557,
+                        0.23603438,
+                        0.04751992
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.5
+                ],
+                "pos": [
+                    null,
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pizza_cutter",
+                    "tool",
+                    "in_container"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "pizza_cutter",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pizza_cutter/PizzaCutter004/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.5000000000000004,
+                    0.65
+                ],
+                "offset": [
+                    0.1499999999999997,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "counter_corner_left_main_group": {
+            "cls": "Counter"
+        },
+        "sink_main_group": {
+            "cls": "Sink"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_main_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "stove_right_group": {
+            "cls": "Stove"
+        },
+        "counter_2_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_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_1_left_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "plant_left_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Open the left drawer.",
+    "fixture_refs": {
+        "drawer": "stack_2_left_group_3"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        0.9052291761963356,
+        -1.500833767853357,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415963267948968
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000306/ep_meta.json b/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000306/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d3c3449446c9ef1b7c523ce8aa117e4e189aab40
--- /dev/null
+++ b/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000306/ep_meta.json
@@ -0,0 +1,566 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "drawer_obj",
+            "obj_groups": [
+                "tool",
+                "utensil"
+            ],
+            "graspable": true,
+            "max_size": [
+                null,
+                null,
+                0.1
+            ],
+            "placement": {
+                "fixture": "stack_3_main_group_3",
+                "size": [
+                    0.3,
+                    0.3
+                ],
+                "pos": [
+                    null,
+                    -0.75
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tongs",
+                    "tool",
+                    "in_container"
+                ],
+                "groups": [
+                    "tool",
+                    "utensil"
+                ],
+                "cat": "tongs",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tongs/Tongs008/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "distr_counter_1",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "stack_3_main_group_3",
+                    "min_size": [
+                        0.07927886354922187,
+                        0.057431164499999986,
+                        0.15159726442819565
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.5
+                ],
+                "pos": [
+                    null,
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "ketchup",
+                    "condiment"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "ketchup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/ketchup/ketchup_3/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.5389216362207778,
+                    0.65
+                ],
+                "offset": [
+                    -1.15,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "distr_counter_2",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "stack_3_main_group_3",
+                    "min_size": [
+                        0.05962146552999998,
+                        0.10438349085999997,
+                        0.041208336015
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.5
+                ],
+                "pos": [
+                    null,
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "bar_soap",
+                    "cleaner"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "bar_soap",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bar_soap/bar_soap_3/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.5389216362207778,
+                    0.65
+                ],
+                "offset": [
+                    -1.15,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "distr_counter_3",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "stack_3_main_group_3",
+                    "min_size": [
+                        0.207547262,
+                        0.4135525672,
+                        0.14003596
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.5
+                ],
+                "pos": [
+                    null,
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "saucepan",
+                    "receptacle",
+                    "cookware"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "saucepan",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/saucepan/Saucepan010/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.5389216362207778,
+                    0.65
+                ],
+                "offset": [
+                    -1.15,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Open the right drawer.",
+    "fixture_refs": {
+        "drawer": "stack_3_main_group_3"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        1.56713539493079,
+        -0.8981347939908705,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000311/ep_meta.json b/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000311/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..41dd6ecd47b8ffe648558f439866b6b6ba537755
--- /dev/null
+++ b/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000311/ep_meta.json
@@ -0,0 +1,447 @@
+{
+    "layout_id": 4,
+    "style_id": 4,
+    "object_cfgs": [
+        {
+            "name": "drawer_obj",
+            "obj_groups": [
+                "tool",
+                "utensil"
+            ],
+            "graspable": true,
+            "max_size": [
+                null,
+                null,
+                0.1
+            ],
+            "placement": {
+                "fixture": "stack_3_left_group_2",
+                "size": [
+                    0.3,
+                    0.3
+                ],
+                "pos": [
+                    null,
+                    -0.75
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "peeler",
+                    "tool",
+                    "in_container"
+                ],
+                "groups": [
+                    "tool",
+                    "utensil"
+                ],
+                "cat": "peeler",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/peeler/Peeler005/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "distr_counter_1",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_1_left_left_group",
+                "sample_region_kwargs": {
+                    "ref": "stack_3_left_group_2",
+                    "min_size": [
+                        0.25519503,
+                        0.11328764999999999,
+                        0.034692970000000004
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.5
+                ],
+                "pos": [
+                    null,
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "ice_cube_tray",
+                    "receptacle"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "ice_cube_tray",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/ice_cube_tray/IceCubeTray007/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.5300000000000002,
+                    0.65
+                ],
+                "offset": [
+                    0.7500000000000002,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_right_main_group": {
+            "cls": "Counter"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "fridge_cab_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_left_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_left_group": {
+            "cls": "Box"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_left_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Open the right drawer.",
+    "fixture_refs": {
+        "drawer": "stack_3_left_group_2"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        0.8936681972915302,
+        -1.9481417893380675,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415963267948968
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000323/ep_meta.json b/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000323/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4be8d2705d61d8aa39a1145ebe7856758cf9ff53
--- /dev/null
+++ b/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000323/ep_meta.json
@@ -0,0 +1,585 @@
+{
+    "layout_id": 8,
+    "style_id": 8,
+    "object_cfgs": [
+        {
+            "name": "drawer_obj",
+            "obj_groups": [
+                "tool",
+                "utensil"
+            ],
+            "graspable": true,
+            "max_size": [
+                null,
+                null,
+                0.1
+            ],
+            "placement": {
+                "fixture": "stack_2_main_group_3",
+                "size": [
+                    0.3,
+                    0.3
+                ],
+                "pos": [
+                    null,
+                    -0.75
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "measuring_cup",
+                    "tool",
+                    "in_container"
+                ],
+                "groups": [
+                    "tool",
+                    "utensil"
+                ],
+                "cat": "measuring_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/measuring_cup/MeasuringCup011/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "distr_counter_1",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "stack_2_main_group_3",
+                    "min_size": [
+                        0.075543672,
+                        0.07554470399999999,
+                        0.179996604
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.5
+                ],
+                "pos": [
+                    null,
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "paprika",
+                    "spice"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "paprika",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/paprika/Paprika012/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.5,
+                    0.65
+                ],
+                "offset": [
+                    0.25,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "distr_counter_2",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "stack_2_main_group_3",
+                    "min_size": [
+                        0.14212935,
+                        0.0248243,
+                        0.03208205
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.5
+                ],
+                "pos": [
+                    null,
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "cream_cheese_stick",
+                    "dairy",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "cream_cheese_stick",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cream_cheese_stick/CreamCheeseStick012/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.5,
+                    0.65
+                ],
+                "offset": [
+                    0.25,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "distr_counter_3",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "stack_2_main_group_3",
+                    "min_size": [
+                        0.06521782250000001,
+                        0.06481546740000002,
+                        0.11593323879999999
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.5
+                ],
+                "pos": [
+                    null,
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "coffee_cup",
+                    "drink"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "coffee_cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/coffee_cup/coffee_cup_9/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.5,
+                    0.65
+                ],
+                "offset": [
+                    0.25,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "flower_vase_right_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Open the right drawer.",
+    "fixture_refs": {
+        "drawer": "stack_2_main_group_3"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        1.9873127507295971,
+        -0.939905236437241,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000325/ep_meta.json b/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000325/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4bb433971c6b20661572a3d8137b4f9e3589fecd
--- /dev/null
+++ b/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000325/ep_meta.json
@@ -0,0 +1,466 @@
+{
+    "layout_id": 1,
+    "style_id": 1,
+    "object_cfgs": [
+        {
+            "name": "drawer_obj",
+            "obj_groups": [
+                "tool",
+                "utensil"
+            ],
+            "graspable": true,
+            "max_size": [
+                null,
+                null,
+                0.1
+            ],
+            "placement": {
+                "fixture": "stack_1_main_group_4",
+                "size": [
+                    0.3,
+                    0.3
+                ],
+                "pos": [
+                    null,
+                    -0.75
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "peeler",
+                    "tool",
+                    "in_container"
+                ],
+                "groups": [
+                    "tool",
+                    "utensil"
+                ],
+                "cat": "peeler",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/peeler/Peeler005/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "distr_counter_1",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "stack_1_main_group_4",
+                    "min_size": [
+                        0.06428376305999998,
+                        0.09899999801999997,
+                        0.02474999999999999
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.5
+                ],
+                "pos": [
+                    null,
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sponge",
+                    "cleaner"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "sponge",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sponge/sponge_6/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.5,
+                    0.65
+                ],
+                "offset": [
+                    -1.0,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "distr_counter_2",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "stack_1_main_group_4",
+                    "min_size": [
+                        0.13853130500000002,
+                        0.135611003,
+                        0.118113842
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.5
+                ],
+                "pos": [
+                    null,
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pancake",
+                    "sweets",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "pancake",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pancake/Pancakes006/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.5,
+                    0.65
+                ],
+                "offset": [
+                    -1.0,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "distr_counter_3",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "stack_1_main_group_4",
+                    "min_size": [
+                        0.07396236224,
+                        0.18541026799999996,
+                        0.015290705439999996
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.5
+                ],
+                "pos": [
+                    null,
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "scissors",
+                    "tool",
+                    "in_container"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "scissors",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/scissors/scissors_6/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.5,
+                    0.65
+                ],
+                "offset": [
+                    -1.0,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "sink_main_group": {
+            "cls": "Sink"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_right_main_group": {
+            "cls": "Counter"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_4_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_main_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_3_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Open the left drawer.",
+    "fixture_refs": {
+        "drawer": "stack_1_main_group_4"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        0.9365684131719761,
+        -0.8587503728392244,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000339/ep_meta.json b/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000339/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..69b2c6e679511faff69bc8445c07cf24520915b0
--- /dev/null
+++ b/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000339/ep_meta.json
@@ -0,0 +1,593 @@
+{
+    "layout_id": 10,
+    "style_id": 10,
+    "object_cfgs": [
+        {
+            "name": "drawer_obj",
+            "obj_groups": [
+                "tool",
+                "utensil"
+            ],
+            "graspable": true,
+            "max_size": [
+                null,
+                null,
+                0.1
+            ],
+            "placement": {
+                "fixture": "stack_1_main_group_3",
+                "size": [
+                    0.3,
+                    0.3
+                ],
+                "pos": [
+                    null,
+                    -0.75
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pizza_cutter",
+                    "tool",
+                    "in_container"
+                ],
+                "groups": [
+                    "tool",
+                    "utensil"
+                ],
+                "cat": "pizza_cutter",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pizza_cutter/PizzaCutter005/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "distr_counter_1",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "stack_1_main_group_3",
+                    "min_size": [
+                        0.14107921300000004,
+                        0.14181904,
+                        0.12425596700000001
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.5
+                ],
+                "pos": [
+                    null,
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pancake",
+                    "sweets",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "pancake",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pancake/Pancakes005/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    -0.125,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "distr_counter_2",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "stack_1_main_group_3",
+                    "min_size": [
+                        0.110738068,
+                        0.086405815,
+                        0.212165117
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.5
+                ],
+                "pos": [
+                    null,
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "cheese_grater",
+                    "tool",
+                    "in_container"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "cheese_grater",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cheese_grater/CheeseGrater010/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    -0.125,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_room": {
+            "cls": "Wall"
+        },
+        "wall_front_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_2_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_front_room": {
+            "cls": "Floor"
+        },
+        "floor_front_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "right_corner_box_main_group": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_4": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_left_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "box_left_top_left_group": {
+            "cls": "Box"
+        },
+        "box_left_bottom_left_group": {
+            "cls": "Box"
+        },
+        "box_right_top_left_group": {
+            "cls": "Box"
+        },
+        "box_right_bottom_left_group": {
+            "cls": "Box"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_2": {
+            "cls": "Drawer"
+        },
+        "shelves_front_group": {
+            "cls": "OpenCabinet"
+        },
+        "bottom_front_group_base": {
+            "cls": "Box"
+        },
+        "bottom_front_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_front_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_middle_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_front_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_front_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "utensil_set_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_dining_area_group": {
+            "cls": "Counter"
+        },
+        "paper_towel_dining_area_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_dining_area_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Open the left drawer.",
+    "fixture_refs": {
+        "drawer": "stack_1_main_group_3"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        1.8928769456591987,
+        -0.8533499391981669,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000349/ep_meta.json b/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000349/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7458ba87ce3a9b256368093199a0e6966d260608
--- /dev/null
+++ b/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000349/ep_meta.json
@@ -0,0 +1,446 @@
+{
+    "layout_id": 4,
+    "style_id": 4,
+    "object_cfgs": [
+        {
+            "name": "drawer_obj",
+            "obj_groups": [
+                "tool",
+                "utensil"
+            ],
+            "graspable": true,
+            "max_size": [
+                null,
+                null,
+                0.1
+            ],
+            "placement": {
+                "fixture": "stack_3_main_group_2",
+                "size": [
+                    0.3,
+                    0.3
+                ],
+                "pos": [
+                    null,
+                    -0.75
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "whisk",
+                    "utensil"
+                ],
+                "groups": [
+                    "tool",
+                    "utensil"
+                ],
+                "cat": "whisk",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/whisk/Whisk004/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "distr_counter_1",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_1_right_main_group",
+                "sample_region_kwargs": {
+                    "ref": "stack_3_main_group_2",
+                    "min_size": [
+                        0.06549559433999999,
+                        0.09844756019999996,
+                        0.02493032453999999
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.5
+                ],
+                "pos": [
+                    null,
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sponge",
+                    "cleaner"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "sponge",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sponge/sponge_5/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.5338432724415565,
+                    0.65
+                ],
+                "offset": [
+                    0.25,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_right_main_group": {
+            "cls": "Counter"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "fridge_cab_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_left_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_left_group": {
+            "cls": "Box"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_left_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Open the right drawer.",
+    "fixture_refs": {
+        "drawer": "stack_3_main_group_2"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.4982916753445563,
+        -0.8590860670195453,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000353/ep_meta.json b/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000353/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..90c6c058584f9f4b1827def4229b557a824e7d0d
--- /dev/null
+++ b/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000353/ep_meta.json
@@ -0,0 +1,468 @@
+{
+    "layout_id": 1,
+    "style_id": 1,
+    "object_cfgs": [
+        {
+            "name": "drawer_obj",
+            "obj_groups": [
+                "tool",
+                "utensil"
+            ],
+            "graspable": true,
+            "max_size": [
+                null,
+                null,
+                0.1
+            ],
+            "placement": {
+                "fixture": "stack_4_main_group_2",
+                "size": [
+                    0.3,
+                    0.3
+                ],
+                "pos": [
+                    null,
+                    -0.75
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "rolling_pin",
+                    "tool",
+                    "in_container"
+                ],
+                "groups": [
+                    "tool",
+                    "utensil"
+                ],
+                "cat": "rolling_pin",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/rolling_pin/rolling_pin_3/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.5779999999999998,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "distr_counter_1",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_right_main_group",
+                "sample_region_kwargs": {
+                    "ref": "stack_4_main_group_2",
+                    "min_size": [
+                        0.061200779999999996,
+                        0.23250654999999998,
+                        0.1552991
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.5
+                ],
+                "pos": [
+                    null,
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "dish_brush",
+                    "tool",
+                    "cleaner",
+                    "in_container"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "dish_brush",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/dish_brush/DishBrush011/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.7,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "distr_counter_2",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_right_main_group",
+                "sample_region_kwargs": {
+                    "ref": "stack_4_main_group_2",
+                    "min_size": [
+                        0.06354934677,
+                        0.0945,
+                        0.0633909969
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.5
+                ],
+                "pos": [
+                    null,
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "avocado",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "avocado",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_6/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.7,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "distr_counter_3",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_right_main_group",
+                "sample_region_kwargs": {
+                    "ref": "stack_4_main_group_2",
+                    "min_size": [
+                        0.08208445200519819,
+                        0.21312832376820956,
+                        0.011183996789999998
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.5
+                ],
+                "pos": [
+                    null,
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "scissors",
+                    "tool",
+                    "in_container"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "scissors",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/scissors/scissors_3/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.7,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "sink_main_group": {
+            "cls": "Sink"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_right_main_group": {
+            "cls": "Counter"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_4_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_main_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_3_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Open the right drawer.",
+    "fixture_refs": {
+        "drawer": "stack_4_main_group_2"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.327657622029641,
+        -0.9288875306017522,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000382/ep_meta.json b/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000382/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f23e9caf316c7c84339a30a6779680b89473b311
--- /dev/null
+++ b/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000382/ep_meta.json
@@ -0,0 +1,357 @@
+{
+    "layout_id": 1,
+    "style_id": 1,
+    "object_cfgs": [
+        {
+            "name": "drawer_obj",
+            "obj_groups": [
+                "tool",
+                "utensil"
+            ],
+            "graspable": true,
+            "max_size": [
+                null,
+                null,
+                0.1
+            ],
+            "placement": {
+                "fixture": "stack_1_main_group_4",
+                "size": [
+                    0.3,
+                    0.3
+                ],
+                "pos": [
+                    null,
+                    -0.75
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tongs",
+                    "tool",
+                    "in_container"
+                ],
+                "groups": [
+                    "tool",
+                    "utensil"
+                ],
+                "cat": "tongs",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tongs/Tongs009/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "distr_counter_1",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "stack_1_main_group_4",
+                    "min_size": [
+                        0.10476326801124376,
+                        0.1697365580783231,
+                        0.11116816143750001
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.5
+                ],
+                "pos": [
+                    null,
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "teapot",
+                    "receptacle"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "teapot",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/teapot/teapot_3/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.5,
+                    0.65
+                ],
+                "offset": [
+                    -1.0,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "sink_main_group": {
+            "cls": "Sink"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_right_main_group": {
+            "cls": "Counter"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_4_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_main_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_3_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Open the left drawer.",
+    "fixture_refs": {
+        "drawer": "stack_1_main_group_4"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        0.970267055880098,
+        -0.9329619006954368,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000423/ep_meta.json b/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000423/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dd98fab00f4e98a7b200be343e063cdb2f10b5ae
--- /dev/null
+++ b/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000423/ep_meta.json
@@ -0,0 +1,716 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "drawer_obj",
+            "obj_groups": [
+                "tool",
+                "utensil"
+            ],
+            "graspable": true,
+            "max_size": [
+                null,
+                null,
+                0.1
+            ],
+            "placement": {
+                "fixture": "stack_2_left_group_2",
+                "size": [
+                    0.3,
+                    0.3
+                ],
+                "pos": [
+                    null,
+                    -0.75
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "strainer",
+                    "tool",
+                    "receptacle",
+                    "in_container"
+                ],
+                "groups": [
+                    "tool",
+                    "utensil"
+                ],
+                "cat": "strainer",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/strainer/Strainer010/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "distr_counter_1",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_1_left_group",
+                "sample_region_kwargs": {
+                    "ref": "stack_2_left_group_2",
+                    "min_size": [
+                        0.133663278,
+                        0.30009777,
+                        0.057235723999999995
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.5
+                ],
+                "pos": [
+                    null,
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "strainer",
+                    "tool",
+                    "receptacle",
+                    "in_container"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "strainer",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/strainer/Strainer008/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.5,
+                    0.65
+                ],
+                "offset": [
+                    -0.25,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "distr_counter_2",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_1_left_group",
+                "sample_region_kwargs": {
+                    "ref": "stack_2_left_group_2",
+                    "min_size": [
+                        0.0333885365,
+                        0.28749461800000004,
+                        0.033388548000000004
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.5
+                ],
+                "pos": [
+                    null,
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "rolling_pin",
+                    "tool",
+                    "in_container"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "rolling_pin",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/rolling_pin/rolling_pin_3/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.5,
+                    0.65
+                ],
+                "offset": [
+                    -0.25,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "distr_counter_3",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_1_left_group",
+                "sample_region_kwargs": {
+                    "ref": "stack_2_left_group_2",
+                    "min_size": [
+                        0.25519503,
+                        0.11328764999999999,
+                        0.034692970000000004
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.5
+                ],
+                "pos": [
+                    null,
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "ice_cube_tray",
+                    "receptacle"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "ice_cube_tray",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/ice_cube_tray/IceCubeTray007/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.5,
+                    0.65
+                ],
+                "offset": [
+                    -0.25,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Open the right drawer.",
+    "fixture_refs": {
+        "drawer": "stack_2_left_group_2"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        0.8793773731197543,
+        -2.3531615566648565,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415963267948968
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000432/ep_meta.json b/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000432/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..dc30a802a3d628c0cc27e75a36f088a1b6b56010
--- /dev/null
+++ b/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000432/ep_meta.json
@@ -0,0 +1,465 @@
+{
+    "layout_id": 1,
+    "style_id": 1,
+    "object_cfgs": [
+        {
+            "name": "drawer_obj",
+            "obj_groups": [
+                "tool",
+                "utensil"
+            ],
+            "graspable": true,
+            "max_size": [
+                null,
+                null,
+                0.1
+            ],
+            "placement": {
+                "fixture": "stack_1_main_group_4",
+                "size": [
+                    0.3,
+                    0.3
+                ],
+                "pos": [
+                    null,
+                    -0.75
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "ladle",
+                    "utensil"
+                ],
+                "groups": [
+                    "tool",
+                    "utensil"
+                ],
+                "cat": "ladle",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/ladle/ladle_4/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "distr_counter_1",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "stack_1_main_group_4",
+                    "min_size": [
+                        0.00666,
+                        0.193378,
+                        0.006656
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.5
+                ],
+                "pos": [
+                    null,
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "straw"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "straw",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/straw/Straw010/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.5,
+                    0.65
+                ],
+                "offset": [
+                    -1.0,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "distr_counter_2",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "stack_1_main_group_4",
+                    "min_size": [
+                        0.06722350592000001,
+                        0.066152576,
+                        0.25467217920000007
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.5
+                ],
+                "pos": [
+                    null,
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "wine",
+                    "drink",
+                    "alcohol"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "wine",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/wine/wine_4/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.5,
+                    0.65
+                ],
+                "offset": [
+                    -1.0,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "distr_counter_3",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "stack_1_main_group_4",
+                    "min_size": [
+                        0.04598819022,
+                        0.19389334146,
+                        0.0428213344125
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.5
+                ],
+                "pos": [
+                    null,
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "corn",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "corn",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_4/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.5,
+                    0.65
+                ],
+                "offset": [
+                    -1.0,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "sink_main_group": {
+            "cls": "Sink"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_right_main_group": {
+            "cls": "Counter"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_4_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_main_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_3_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Open the left drawer.",
+    "fixture_refs": {
+        "drawer": "stack_1_main_group_4"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        0.9426737216136035,
+        -0.8506106637884975,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000441/ep_meta.json b/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000441/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec62b88b9b012c50c03a2f31be90b37587f92c1f
--- /dev/null
+++ b/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000441/ep_meta.json
@@ -0,0 +1,550 @@
+{
+    "layout_id": 5,
+    "style_id": 5,
+    "object_cfgs": [
+        {
+            "name": "drawer_obj",
+            "obj_groups": [
+                "tool",
+                "utensil"
+            ],
+            "graspable": true,
+            "max_size": [
+                null,
+                null,
+                0.1
+            ],
+            "placement": {
+                "fixture": "stack_2_left_group_3",
+                "size": [
+                    0.3,
+                    0.3
+                ],
+                "pos": [
+                    null,
+                    -0.75
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tongs",
+                    "tool",
+                    "in_container"
+                ],
+                "groups": [
+                    "tool",
+                    "utensil"
+                ],
+                "cat": "tongs",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tongs/Tongs010/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.303,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "distr_counter_1",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_left_group",
+                "sample_region_kwargs": {
+                    "ref": "stack_2_left_group_3",
+                    "min_size": [
+                        0.115706422,
+                        0.11602687754999999,
+                        0.0461150667
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.5
+                ],
+                "pos": [
+                    null,
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "donut",
+                    "pastry",
+                    "sweets",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "donut",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/donut/donut_5/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.070866289828225,
+                    0.65
+                ],
+                "offset": [
+                    -0.4624999999999999,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "distr_counter_2",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_left_group",
+                "sample_region_kwargs": {
+                    "ref": "stack_2_left_group_3",
+                    "min_size": [
+                        0.10675425599999999,
+                        0.1278608625,
+                        0.11514100500000002
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.5
+                ],
+                "pos": [
+                    null,
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "lettuce",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "lettuce",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lettuce/Lettuce010/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.070866289828225,
+                    0.65
+                ],
+                "offset": [
+                    -0.4624999999999999,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "distr_counter_3",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_left_group",
+                "sample_region_kwargs": {
+                    "ref": "stack_2_left_group_3",
+                    "min_size": [
+                        0.342302,
+                        0.055938,
+                        0.055938
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.5
+                ],
+                "pos": [
+                    null,
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "aluminum_foil",
+                    "tool",
+                    "in_container"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "aluminum_foil",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/aluminum_foil/AluminumFoil004/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.070866289828225,
+                    0.65
+                ],
+                "offset": [
+                    -0.4624999999999999,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "untensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "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_1_left_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_4_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_left_group_2": {
+            "cls": "Drawer"
+        },
+        "flower_vase_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_left_group": {
+            "cls": "Accessory"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_left_group": {
+            "cls": "Accessory"
+        },
+        "digital_scale_left_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_right_main_group": {
+            "cls": "Counter"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Open the right drawer.",
+    "fixture_refs": {
+        "drawer": "stack_2_left_group_3"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        0.9303340706719582,
+        -3.6918580382029114,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415963267948968
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000479/ep_meta.json b/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000479/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8dc2686aacd558fedcedd2ef375bab47f3d1049d
--- /dev/null
+++ b/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000479/ep_meta.json
@@ -0,0 +1,659 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "drawer_obj",
+            "obj_groups": [
+                "tool",
+                "utensil"
+            ],
+            "graspable": true,
+            "max_size": [
+                null,
+                null,
+                0.1
+            ],
+            "placement": {
+                "fixture": "stack_2_right_group_2",
+                "size": [
+                    0.3,
+                    0.3
+                ],
+                "pos": [
+                    null,
+                    -0.75
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "wooden_spoon",
+                    "utensil"
+                ],
+                "groups": [
+                    "tool",
+                    "utensil"
+                ],
+                "cat": "wooden_spoon",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/wooden_spoon/WoodenSpoon012/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "distr_counter_1",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "sample_region_kwargs": {
+                    "ref": "stack_2_right_group_2",
+                    "min_size": [
+                        0.06984400731000001,
+                        0.23099910603000004,
+                        0.06988381554000002
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.5
+                ],
+                "pos": [
+                    null,
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "ladle",
+                    "utensil"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "ladle",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/ladle/ladle_4/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.4999999999999996,
+                    0.65
+                ],
+                "offset": [
+                    0.2500000000000002,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "distr_counter_2",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "sample_region_kwargs": {
+                    "ref": "stack_2_right_group_2",
+                    "min_size": [
+                        0.0943436,
+                        0.23779908,
+                        0.02924877
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.5
+                ],
+                "pos": [
+                    null,
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pizza_cutter",
+                    "tool",
+                    "in_container"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "pizza_cutter",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pizza_cutter/PizzaCutter005/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.4999999999999996,
+                    0.65
+                ],
+                "offset": [
+                    0.2500000000000002,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Open the right drawer.",
+    "fixture_refs": {
+        "drawer": "stack_2_right_group_2"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        5.49118022025875,
+        -1.5411562764809306,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000486/ep_meta.json b/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000486/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..661ad022f4cf5db16b47042e96cf0dc062ffaa51
--- /dev/null
+++ b/target/atomic/OpenDrawer/20250816/lerobot/extras/episode_000486/ep_meta.json
@@ -0,0 +1,567 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "drawer_obj",
+            "obj_groups": [
+                "tool",
+                "utensil"
+            ],
+            "graspable": true,
+            "max_size": [
+                null,
+                null,
+                0.1
+            ],
+            "placement": {
+                "fixture": "stack_3_main_group_3",
+                "size": [
+                    0.3,
+                    0.3
+                ],
+                "pos": [
+                    null,
+                    -0.75
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "ladle",
+                    "utensil"
+                ],
+                "groups": [
+                    "tool",
+                    "utensil"
+                ],
+                "cat": "ladle",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/ladle/ladle_3/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    -0.015000000000000013,
+                    -0.044
+                ],
+                "size": [
+                    0.378,
+                    0.51
+                ],
+                "height": 0.118,
+                "name": "int"
+            }
+        },
+        {
+            "name": "distr_counter_1",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "stack_3_main_group_3",
+                    "min_size": [
+                        0.17723176000000002,
+                        0.21684415,
+                        0.25018909
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.5
+                ],
+                "pos": [
+                    null,
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pitcher",
+                    "receptacle"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "pitcher",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher016/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.5389216362207778,
+                    0.65
+                ],
+                "offset": [
+                    -1.15,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "distr_counter_2",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "stack_3_main_group_3",
+                    "min_size": [
+                        0.14212935,
+                        0.0248243,
+                        0.03208205
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.5
+                ],
+                "pos": [
+                    null,
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "cream_cheese_stick",
+                    "dairy",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "cream_cheese_stick",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cream_cheese_stick/CreamCheeseStick010/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.5389216362207778,
+                    0.65
+                ],
+                "offset": [
+                    -1.15,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "distr_counter_3",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "stack_3_main_group_3",
+                    "min_size": [
+                        0.12301854371999998,
+                        0.062345413934999996,
+                        0.21134415726
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.5
+                ],
+                "pos": [
+                    null,
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "liquor",
+                    "drink",
+                    "alcohol"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "liquor",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/alcohol/alcohol_4/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.5389216362207778,
+                    0.65
+                ],
+                "offset": [
+                    -1.15,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Open the right drawer.",
+    "fixture_refs": {
+        "drawer": "stack_3_main_group_3"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        1.5023400000744804,
+        -0.9404041024632293,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000003/model.xml.gz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000003/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..34a248ed1985db02c53d3c92377dd10354a5c427
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000003/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62f976545014b93c03126bda867231dc6e34c9f0e8053d4c35f32cc99faaaa9f
+size 75969
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000003/states.npz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000003/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..fa5e6a7ee28e0407722fbe709868e91fd23e258b
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000003/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:14fddec90b2a83b1ef25859df63e4258d364a97f7ffdcc5c9c680a1f37865ade
+size 322113
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000009/model.xml.gz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000009/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..deef6b411e75b2ef2a4d9890f5d3a3eee21a518c
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000009/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c6aaa6f20254bb1c47cfdc7c4b32681b3a729a6280967afee7efc9962599f3a
+size 58793
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000009/states.npz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000009/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5f3bba4b671680afea6de21790d68f78eb838eea
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000009/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:246080048622297ab9bef99409f21d195f6c5e50c83fc4ced5918d540a89c0c1
+size 355203
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000019/model.xml.gz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000019/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..e2d15ff531ed8f3d28b24321e529a74a205cc9b9
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000019/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc455459721af475a5a5ad8bcc6734218a090d0d9737f70781c8ac3e20627bd7
+size 51743
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000019/states.npz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000019/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..51d02aa96b8e31cf4791141d9cb7fdeaab265ce0
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000019/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:db8bcb133ada9d745c439bb0f887b961723b322323d2813ea1d443ad4744949a
+size 305368
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000035/model.xml.gz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000035/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..abf1f77d9f949864615da6535e3939d9397d3a63
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000035/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3a9f431139ff33e6bd97eb8bdda0cd0363a8fc920466b83cd2005b2c3d544250
+size 57176
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000035/states.npz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000035/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7821e032ac82c04e8543a96025a903ec20b37aab
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000035/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e6023e581011cb33f4def9ba2b772d6fa5e71a6d5295e394568fe63601d08b4f
+size 168091
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000057/states.npz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000057/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8154cccaa831a0ecf009b8c9313265b63c97e4ec
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000057/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f7feab54efa333a4c90918f2a58b068c5f45abd7b8c7e278ce5017b30c0b4fa
+size 176983
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000061/model.xml.gz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000061/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..2aa572b76974bb4e6efc7e1df2d4c5d4c0762a5a
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000061/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73d9e4ccbbbb73cd1f41cca801c6be6a4d5129e70371901f890aa7cd4643d5ac
+size 62500
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000081/model.xml.gz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000081/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..ee695b61df359fa56b065289f1a6197ff261c5e4
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000081/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbe7868a7115890c249aa4d7cc518fec958dcdea16e083a45b7b8ce54e9d3633
+size 62284
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000081/states.npz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000081/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..fd10941be3ce89c5c4192550a1a5ab5655fd927a
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000081/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:51442509cf19f8f1a81cf03a151a7d6b78f0505927d13dec731c9ad7f8049d23
+size 300169
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000082/model.xml.gz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000082/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..93d4e445f9b013344538c12e65189dd1525002a9
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000082/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:311d7689271bfa57542ae9d6ff1a57a7828b006a03e1f7c0b05de33fc21b525c
+size 41074
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000082/states.npz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000082/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c1851474f22af2af0926fd57096029fe37591b35
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000082/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a0f29dc6d40447fab05934e925004088fba75527e03c4139a8efe0ed81fe1e6b
+size 309845
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000097/model.xml.gz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000097/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..b579af89100477b43d016c6a746a9c3e60ebce4c
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000097/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:642116e5b300d4a9263cb09acb5eda167f9e3beaf500783ffdd7cd9b603e950e
+size 66040
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000097/states.npz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000097/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..300da6eda637984e1f0c051dfbf1f97ae6552e8d
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000097/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab4cca93e60a15a4ef97d83d705c94e69e4f6f3b053bb4778c660ca72ae641c4
+size 180725
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000108/states.npz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000108/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..40856868d9a9fed2be15a1d4de573082e6922059
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000108/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:90e22341aafaf1eed5eea3575786972967a80d93f14044df5687ae53f2b2a1a0
+size 347536
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000109/model.xml.gz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000109/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..e9369945449aa26aa3d920c53901e3fbf6d368a9
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000109/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:af2a7b01a2cb76122757f2e56180646e29b6f63837445bce3a1b824b6abdce0b
+size 80049
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000122/model.xml.gz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000122/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..38338b4900aae304f7d5edb69c540f5341fe3c6e
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000122/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3195d72fe515e71c0ed5844fd615e53c8dcf4033bd68f433966920d5c87a0af3
+size 80050
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000122/states.npz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000122/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..09a247cda62066666c7de716119c2d6f09092828
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000122/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9454fcd3c1ccbfb89d74f9b40812b053b78b4b15ff273cfcd1355ee610764ba1
+size 204346
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000129/model.xml.gz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000129/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..f8dad1254af7800a70d566ee45c200803d34626d
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000129/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:012b836346d871ee9efb0159b8af9640c2a2c4fcae2ee6ca42527dac50134b46
+size 51722
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000129/states.npz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000129/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f3cadb2f47acff89a739362f64e7c437282ca91e
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000129/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:034f9f621df16474ec6e10957f8e9ac95dd880c95663f64ad70e2f118ba43b8b
+size 271803
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000130/model.xml.gz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000130/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..ef23c0d859b3cb929a01ca701ce9d8bb9d0a8624
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000130/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c66da45da08fbd4f6e405f8d879f5f4aa7d40aaaebbf5a4b65ca2dfaa081f532
+size 62827
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000130/states.npz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000130/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..965e65191a35f3feb64b87b1145c00b475c313ed
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000130/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8f0676b9b2f694a8a721603a6aacfa9f6dd392e49bd71df734aa302fdaf59f0d
+size 235910
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000146/model.xml.gz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000146/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..1be61a6985c3cd7efe34021c878757fe83595149
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000146/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8d87f518f027d8fc9e8518c995a58ba30aea41d4e5218bb00802f84b5d6d2dc3
+size 51879
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000146/states.npz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000146/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..48de5f06178afdd0d460974ed79e28ff09868733
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000146/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9e125a6feec3832be85c20985611050be65b9c5d0c395053f2fecf292930fd63
+size 343555
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000147/model.xml.gz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000147/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..995a47c08c310656618d5b90448485b208f2d1b0
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000147/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e158612fc48d44807ec8ed05b28f1775a1cdfcc6938ddfbf1f5a8de53251d27d
+size 65912
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000147/states.npz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000147/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f357774d496579e56e12786ea33711df1a2f42fc
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000147/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:95be9d8e63e3fe4a2bcd381e8b7b804e79c58c85b6c38f5d5b983f9b19bb3490
+size 219332
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000152/model.xml.gz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000152/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..8e60609b2aca0383309d039df615b9ec56b30122
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000152/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5643d3cf9ba5ab7101bdc0364e260470b077b922b9d520413734b797831deb92
+size 66079
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000152/states.npz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000152/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f8e9e71c6009cf3203142f0b01be6d76814579fc
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000152/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:eb9f49aea745a7b544330ca7cef5aaf3962f607792ffc8d526a2eba150e72191
+size 186173
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000170/model.xml.gz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000170/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..bbe16e6de7beeee0c3035f36d90608ad42158688
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000170/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5fe1d5d357aa196588286a6559adc43969976fe77530d50650b4ebdab52f02c5
+size 58777
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000170/states.npz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000170/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4b89f061c446837b745b5d485666e4720492ac28
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000170/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f5c9438a46ab2015af48c2a32d7dc30e04a2b4bcfd35a8865823f7f4b7d19a04
+size 381179
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000173/model.xml.gz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000173/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..ae63e8e415473667951e95785bb139f3172f22a3
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000173/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff21dd527e4daa1486367033c91320302c5dedc746ff183f9de978c54ed8021a
+size 80209
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000173/states.npz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000173/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..5b9cd8d0205b68e8936cdadd5ebf035707382315
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000173/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b2a8bd09a499d52c8223607ca3e8522bf86aaf0d7e4bed709274023d0da7e037
+size 269102
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000175/model.xml.gz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000175/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..285265a750c6134c959bb2b7fc49aa22e57529ce
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000175/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:62878c03095fbb0ef9f5c6420e0246e3d4ffb90aa9c6595ebb640ea5a3d31907
+size 75897
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000175/states.npz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000175/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..7bad4d7d3bd8925fa00fdc89ee8a55162871791b
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000175/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8ab87ea26cda87fc2b2416d2fb89662521a653e55da1a4ad7facabbb58cb6774
+size 276697
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000176/model.xml.gz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000176/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..0cbd603991730c41e4456cb1f8bbb56350fe8f05
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000176/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7182da47f62f2383ef152da2c2cf732a61b0208fa4795972313e85e487453f31
+size 58696
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000200/model.xml.gz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000200/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..fdafc8c1de4d84dff560deaf45a5c8579817507c
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000200/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dd236a89db7e15f8fec99ea89456235917f434005837168e245a69b28e92afa0
+size 51713
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000200/states.npz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000200/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..554e21c245b258520d54be4f3c10c66780c427dc
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000200/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c5cdb64def9207a9e42423e76a05e0adbd4ba8cd194c2e87000db07ba5577569
+size 265749
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000206/model.xml.gz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000206/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..6deaa1750e67c835997fd2f01ef28d0438d356d5
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000206/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6ef184ae50a6d778c7b36789e8255b06d784cfa60e38171dc7af11d96f1a58e6
+size 59205
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000206/states.npz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000206/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..79338187932b142d253015805495626ab719fb48
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000206/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7a43e25e7c1dc5fae3e57ceafffb7c4d29da6694fe8c39ac74476b5f37e72dd0
+size 415965
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000207/model.xml.gz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000207/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..077b1127845273bace16d297e71bf1697905f99e
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000207/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c43d76de7692d6fdc6f0635ebdd27d39e96a90ae8d924a645a6ae41022f10f0a
+size 57549
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000207/states.npz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000207/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..fe5711379713a8d9733cc33890d316609173e5e4
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000207/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:27942cc0b7a0156660fb340cd63f925202494b6d346c4dc3220cb1a6a3e40043
+size 308271
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000210/model.xml.gz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000210/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..3b342ee1e23c76c20fef9be50abd3c6e3480fbec
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000210/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:20d6a021b56b86ac6e6b81ff9c8acecfd6818f1e744aaaadba5aecb6c680bdba
+size 65984
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000210/states.npz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000210/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0f0340704afad4142b5f16ff3f68c2fdd119eccd
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000210/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d8de34a6e419b29a24c651e99d254b330d00fc2229f8c7abf7556ae7e624257f
+size 210744
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000224/states.npz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000224/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..1058610efa0e7ea00812d4306654671ab9bd5977
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000224/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:feffd39c485ef0facef94e5619c0426dacf41a0daf4e3c3a772f4d20fc55ce8f
+size 290522
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000229/model.xml.gz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000229/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..95dcd871443d4e89ad7d51d63b6e76ad96d7676e
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000229/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:890d95a3d29ebdd6c14e62fc2bf8e20ca5e6d3020180a3c11f3f56c2308c6e79
+size 66169
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000229/states.npz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000229/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b4b6b395850cc67511ef502fc44fc744d75341fc
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000229/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e3b3f07ef106907110a878964e63faab11e937ed25c7470dbce3aa8abefb95e3
+size 213921
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000230/model.xml.gz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000230/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..206d2563e58ae7abcac43b6b536e7f9845f7237a
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000230/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b8f7b611fe0048c7a86d68c73928f691fdcbdcb926edc491ab9ec2825111d463
+size 79992
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000230/states.npz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000230/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2efea8ae28d86fa218f584a2b03a82869803863e
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000230/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5623621c73387a147e4754d74932349fdfa57c517b72afe289ee824b7b6d087a
+size 192171
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000231/model.xml.gz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000231/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..48a797de81729baafb32d824a7c98d0ae46ac97c
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000231/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b58c1328b3ebe191c0d001aaedc6a2e3167d7d4f8df34985caa9ed5b72b33f37
+size 51698
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000231/states.npz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000231/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b4d54836516e0f7c5d19a259ddcff7b54d8f8f07
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000231/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8bdc6a6a0fa269272c1349324a6ba23a8e02da4b091b8b4772bdd1284ee8fb4b
+size 336664
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000234/model.xml.gz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000234/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..84c7304fcc8bc607318a925c457011d29646807a
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000234/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:5c1eb754c19650a3fbaada711c01fdc8172deb39ae7a2438a5981fe059fc5548
+size 59317
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000234/states.npz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000234/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..b495344cffc2eafd8634cbbe1f5c0928048fb16b
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000234/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab978500830f139d3bc119a566e6fa483699665af0dde7204683db4d78160ffd
+size 362031
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000239/model.xml.gz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000239/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..9a874ba1169ba94185c1cdf9553ce7508741cb6e
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000239/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:55f3e40cd5788e129900edfdc352f38e6060ba8a0433aa34adf572f7759cde58
+size 57234
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000239/states.npz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000239/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..684159bca438b95b9a275119babc900b7782cef1
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000239/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b940333357ffa5f6f9a1cfa90fa5f78ddb72d8cd8b3051326ce5fa9a1800ef96
+size 274519
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000269/model.xml.gz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000269/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..4e22c9e66c0ade32b8293816adff634852edaa32
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000269/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:789b03b86fccfd84648ecbbd792f6f32644fc4556beedb65420b4999784da4fe
+size 59230
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000269/states.npz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000269/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..3b2b0453ca6a681a71e57d33a7071634765fb2d7
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000269/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2dcc12ee3723a6fd3cb97d353ca8485337a343925d98645a9e4d051b9b96e82a
+size 289401
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000279/model.xml.gz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000279/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..8343fa26d8310e5946b709f60e07e527c37a836a
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000279/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:f73406c9ca08f1d5fabd7f774929b42fffccc0665697377901af330c874cfa6f
+size 57282
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000279/states.npz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000279/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4fdb003082f717118a0c3f06414edf834eee300c
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000279/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1cfeb33876fe825aa024d7eaef4e85992bc52cd55e07ac986a213a8ed40a61a0
+size 263823
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000280/model.xml.gz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000280/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..2b5fce50f49e5bce273f6e97fad7e9d4db5c3b67
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000280/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b058a47486a6f14a856a8e378071f4ab5f7851ddb1ac04c6510282be7dd6a1bd
+size 51820
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000280/states.npz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000280/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..66ffa91e476003297c1b9ee28b7ac0d609b1a46f
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000280/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:56f25c5e6b656e79aad4027bfceb099f4ac3449bd695a6d261e8819d71fba0dc
+size 259400
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000281/model.xml.gz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000281/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..b88b26a5be0c34e3f5447edeb5c5d3cf6d97e5f3
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000281/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4493b7ea8d896ad93eb91534d592930ba8020994503a956df8516f999ef6d5bb
+size 62835
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000281/states.npz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000281/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2ec101fee39ce0ca9b85f1eb799c15d1b1e7e1e1
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000281/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:295bb84c8c1b173c626c43eaf7c55c308fbe9b2bca0fff92f651f898cad59c22
+size 460182
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000285/model.xml.gz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000285/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..4877d4792b84e7b8e68b6b498556283c2533d205
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000285/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b0b17e7401758ac304adbb6fccfc0636123815c5afbbbee57e3ea52a19ab4bad
+size 62822
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000285/states.npz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000285/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..50e23bc75d9c6dfdea97033c3c9370b09fe04cb6
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000285/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fd0fdcdd71b972cc26bd29e8d99abd5efe674b0cf354c90def3e8976a14605d1
+size 433786
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000303/model.xml.gz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000303/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..ff0d1f1f521fae0279bdae8bbdea704d27fae711
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000303/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6fb04f24335778dad9a0691552bd6f0ba72b8546ccbb317b5ba5c1bbcea39230
+size 57050
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000303/states.npz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000303/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..790698831942f180658ae6c78d7d0149bf02ad1f
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000303/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:73c8f15d7861364d50fbad987b392291c2d2ba35f16bee8fb2e17bab6451cf05
+size 226858
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000307/model.xml.gz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000307/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..d6ecb122a72f0f78ce16478c2f7551509d889c4c
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000307/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ff6a14f5b2fec06c28c0f9e76b1f9e785fbafd2d4d3d7720b875abd03c13636a
+size 79789
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000308/model.xml.gz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000308/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..d82d2dbd73edb25a32cf8a7e5d0eb0ccec50a199
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000308/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3661c8fcbb7967914255cabba5ab50a17d97eccd9052e35ad741626b2f35e6ef
+size 52130
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000308/states.npz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000308/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..28be0eb4743657fcf7b6bc9f36351dc6fb61375f
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000308/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4ff733e1716ddfc7d3868228049457ca7b3a22b9ff1c1090eb7db495f566cab9
+size 309157
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000313/model.xml.gz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000313/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..b3d5674592faaf3a082fac75a410d3c66908b6d9
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000313/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:130492f8b4f85b6e47550654a87448ffe4c4d45f571cca08162ce02ce9ad1414
+size 58949
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000313/states.npz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000313/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..d3e20fd513a9c474f7acf97fd5e0e135f56e51f7
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000313/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d10820f42d29fad5a80078543042403cc582db52d94a5547bc05d49593c0d95c
+size 378366
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000328/model.xml.gz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000328/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..82cad26caf0ab5f0b2df6a9a97679f3769586911
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000328/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a6cc2de1b6577058e5c87a0dd26e6c59851e8500a967d728bed4c4fc13b086e7
+size 65900
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000328/states.npz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000328/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..169182d37f4d57716547178908f1519e67a1c421
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000328/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ceb5ac3a66dad342e097e81f743d253ef74cf48fd226945a406e7aed66cd487b
+size 196042
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000348/states.npz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000348/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e47796de099599b234d38e046bb347f122c2c0fa
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000348/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:8065675e0b59240e05dfd45bcf24ee8d469707d321dea25043e222291c6e0ad9
+size 209711
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000354/model.xml.gz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000354/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..bdbe0badf3a3841967cc38720d97593726362488
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000354/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:750c17e3729783f11667d414f6f50fcf2a164a70c3809f62dbbafa24b1a08858
+size 59051
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000358/model.xml.gz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000358/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..89cf95877597dbdb5833f6ddc4efdfbc0056b04d
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000358/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:84b62f6c6e693480693c804503be8226850d0b3c3d55c581c3269b17c65f0c3c
+size 57171
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000358/states.npz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000358/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..675ea3e249ce27f55671135cc7f7ec72caf42138
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000358/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:341134efe547eaa19f5a70aedc2810d9fe0dc7f754530bdc02d95125396a43d1
+size 246161
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000396/model.xml.gz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000396/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..19e01fd65ecf4383af1f12de9bc006d2b842d211
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000396/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d1614526c5be0b5515e0044fc18a245c823e75da8ffd3b3e81c3b5d47c27ce12
+size 63030
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000396/states.npz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000396/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..414c0359111d89b8666ec6564c139208178e7965
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000396/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:59676d8470353c644eee3e24904b79257fa3d2e055a327452fb6fe3596c666b0
+size 334620
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000397/model.xml.gz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000397/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..37c908cd672a8ab200138c07589e07c634b2d1a5
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000397/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:828758c11d017c3635794e31340fd1aa4d8ac3eea72ede2881198e79bc9b9cc0
+size 51787
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000397/states.npz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000397/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..f37befa4340e146ed94ac3666915087e8a1c44cb
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000397/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0a4d6829810db4a31f9cf8e9c52e39df2663510a38c0c7e18db721982798abd4
+size 182318
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000414/model.xml.gz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000414/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..f5be0513380e2a56b9ac4bbf509fe7b298b45609
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000414/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9d1cca1e16bdbbccf2a8467a9fd0e8c977283f1e94769230d6b7125b27ef3fe3
+size 62610
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000414/states.npz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000414/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..4423819d64318145ae138bbf52e2739276866e7e
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000414/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:d9b5cbd88fbebf8351b24e30ccce896b9fe586638073fe1cff9b73743678bb4e
+size 225076
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000417/model.xml.gz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000417/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..906c48d7da2c5ff500aafc3e961254ea3d383210
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000417/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bb9b2a0c64adf3ec739e5ba593fae2acffa2955c150fafa026349d86f62df7dd
+size 76147
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000417/states.npz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000417/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..904b57f6a1d7c61eb3ecff068f5ffe0a51182dfb
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000417/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b1644e74cde4acedec2f081fe409bace3cf83afbbc8a90eb491cf8decf9b9bac
+size 350778
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000435/model.xml.gz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000435/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..2f09bd072e13afda9a0e6d474bcc53015decc6aa
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000435/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:97c2c00502e711c82a88899cd3d008b92354d8615cc29e627c823fe7f6c9a8b2
+size 62395
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000435/states.npz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000435/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..cb0c696c237f6bf851270d110d8c344b6a455b8e
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000435/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:0648f3f7f4175157a51ce2dde041c3cd52392d0432c2e54181f6517ae4d85d8a
+size 279932
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000453/model.xml.gz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000453/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..9a11db3a9478500423e5804cf3f9c8ffdb3d9ff2
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000453/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e18ac98f42b4b34925d6b476284536a3563c3f62e2b5ea15dd374c16cbcd215f
+size 80051
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000453/states.npz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000453/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..92947ce2b263ecfa01aa1d7a708f8d6705fe4b0a
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000453/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:752e4c71035177e8f4e8ba82f2316088b20a6b717380a640ec564bc5c8a22bfc
+size 238141
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000457/model.xml.gz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000457/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..6a2ae73a9193968edcc9d0c37b84101f31b7df0c
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000457/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:e7ec5dcdba0a247cff72ef3420ab5eac2cde2b2bd593050e9d816d69574d0622
+size 62636
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000457/states.npz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000457/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c8493eab2563c790721020dc3d6a83370bc88913
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000457/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3579dbce2e512a05d4e939e924d66c02c825ad13ffe078d33650be8cc5bbb4eb
+size 203992
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000463/model.xml.gz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000463/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..b8f72493efa7c4b739b8d5bbfe93e844deccdb9a
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000463/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:142a123dd97da5b4170d72db8ca794c59f07897b1d34ce6fd7cc0e64f005eb91
+size 62899
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000463/states.npz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000463/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..8a1f4cd6493c5c7ebc91eb89dcadd15a5f04904e
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000463/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7e90af3e1c2cfe01549fc95e38b0413adeb7a7914333f270ff921ac2e62a5f08
+size 217653
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000472/model.xml.gz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000472/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..5a1d7bc61a0b52a4eaa6fdd41232cee4d829a4e8
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000472/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:604b8cf8521b0b7ab91dfd4d3bc73ce5f7ed42a99d7761cb248111a5866e834f
+size 79943
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000472/states.npz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000472/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..ad0850b4fb5d0237d4cfd2c07a180f3680279df0
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000472/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c32f104b0449ab49c4328cebc1f17a3a499ee5c77780bda752a965df443c029f
+size 194517
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000478/model.xml.gz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000478/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..39db3844c6614a2753e7b539d1448e2581ac528e
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000478/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:36423dbbe68e5c6127fa2fac43d86062fa5acd30904b1d51a0cdc3be20433ddb
+size 40851
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000478/states.npz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000478/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..0ce0e3e277d243f85f39d7b084c0b7309b5be224
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000478/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:894766b940563fa43729d1f1d3b7e8f8c688453d01f2f645b578eacb5e17c072
+size 252416
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000480/model.xml.gz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000480/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..c14eb0c1f9ba99556e6ccfb38f5af0f8c77f55f9
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000480/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:6f32b369b7deb8635afcf1f68e7adb28f1dcdf7b2e4e454c52f727dfc8546fe9
+size 79992
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000480/states.npz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000480/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..e8ac0caed60f1b8a9dc69a1d8bfd4095e6eb093c
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000480/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ab95c2d12f6b02748801c98ae265bc22762b71a331c7d9f8e7635f7919258d2c
+size 270808
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000483/states.npz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000483/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..2f980013a9d801063673ff3dfe9ae5f20ae2fdfc
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000483/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b299fd01dc713e862b28e345ffadd91b9655a252eca03e2178e730a08b22f255
+size 271631
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000487/states.npz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000487/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..63c5e3d40c4dfbf035809054a91cd6f3661d2f75
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000487/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:fc8c0ed9693092d1a0fbfcf5f6088d96d23001b08e62d48d670f4023df96aedb
+size 292190
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000500/model.xml.gz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000500/model.xml.gz
new file mode 100644
index 0000000000000000000000000000000000000000..d76680bf8b705f4465155e09830fb7381e78fc3c
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000500/model.xml.gz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:bc4684cf82bad05aba75342f5d9d56cfdb267a904afc929e6db7d611e044c438
+size 62331
diff --git a/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000500/states.npz b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000500/states.npz
new file mode 100644
index 0000000000000000000000000000000000000000..c87cf72084d94280bf29ce66150c59cf401dcb6f
--- /dev/null
+++ b/target/atomic/PickPlaceDrawerToCounter/20250820/lerobot/extras/episode_000500/states.npz
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:2201639caffbe158df9c11cdc03c061de0ef43522a668a2a52c12b8421852a22
+size 296071