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pretrain/atomic/CloseElectricKettleLid/20250820/lerobot/extras/dataset_meta.json

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+{
+    "date": "8-20-2025",
+    "env": "CloseElectricKettleLid",
+    "env_args": {
+        "type": 1,
+        "env_name": "CloseElectricKettleLid",
+        "env_version": "0.5.1",
+        "robosuite_version": "1.5.2",
+        "mujoco_version": "3.3.1",
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+            "env_name": "CloseElectricKettleLid",
+            "robots": "PandaOmron",
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+            "style_ids": -2,
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+            "translucent_robot": false,
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+                        "torso"
+                    ]
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+                        "kp_limits": [
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+                        "gripper": {
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+            }
+        }
+    },
+    "env_info": {
+        "env_name": "CloseElectricKettleLid",
+        "robots": "PandaOmron",
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+        "style_ids": -2,
+        "obj_instance_split": "pretrain",
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+                    "torso"
+                ]
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+            "body_parts": {
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+                        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": "6:54:32",
+    "total": 7530
+}

pretrain/atomic/CloseElectricKettleLid/20250820/lerobot/extras/episode_000000/ep_meta.json

@@ -0,0 +1,358 @@
+{
+    "layout_id": 42,
+    "style_id": 55,
+    "object_cfgs": [],
+    "fixtures": {
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_4_room": {
+            "cls": "Wall"
+        },
+        "wall_main_4_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.002_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_4_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "cube_1_main_group_1": {
+            "cls": "Box"
+        },
+        "fridgefrenchdoor_main_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "coffeemachine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "papertowel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "stovetop_right_group_1": {
+            "cls": "Stovetop"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "hingecabinet_3_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_4_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_right_group_1": {
+            "cls": "HingeCabinet"
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+        "stack_1_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_1_3": {
+            "cls": "PanelCabinet"
+        },
+        "stack_4_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_1_right_group_1": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "oven_right_group_1": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_right_group_1": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "electric_kettle_right_group_1": {
+            "cls": "ElectricKettle"
+        },
+        "counter_1_left_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "knifeblock_left_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_left_group_1": {
+            "cls": "ToasterOven"
+        },
+        "plant_left_group_1": {
+            "cls": "Accessory"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_3_island_group_1": {
+            "cls": "Box"
+        },
+        "sink_island_group_1": {
+            "cls": "Sink"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
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+        "stack_1_island_group_1_base": {
+            "cls": "Box"
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+        "stack_1_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1_1": {
+            "cls": "SingleCabinet"
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+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_1_island_group_1": {
+            "cls": "Dishwasher"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Close the lid of the electric kettle.",
+    "fixture_refs": {
+        "electric_kettle": "electric_kettle_right_group_1"
+    },
+    "cam_configs": {
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+            "parent_body": "mobilebase0_support"
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+        "robot0_eye_in_hand": {
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+            "parent_body": "robot0_right_hand"
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+    "init_robot_base_pos": [
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+}

pretrain/atomic/CloseElectricKettleLid/20250820/lerobot/extras/episode_000001/ep_meta.json

@@ -0,0 +1,352 @@
+{
+    "layout_id": 47,
+    "style_id": 46,
+    "object_cfgs": [],
+    "fixtures": {
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_5_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_02_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_01_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_6.001_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "hingecabinet_5_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_4_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "sink_right_group_1": {
+            "cls": "Sink"
+        },
+        "counter_03_right_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_right_group_1": {
+            "cls": "Counter"
+        },
+        "stack_05_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_05_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_05_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "box_05_right_group_1": {
+            "cls": "Box"
+        },
+        "dishwasher_1_right_group_1": {
+            "cls": "Dishwasher"
+        },
+        "stack_06_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_06_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_06_right_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_08_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_08_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_08_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "electric_kettle_right_group_1": {
+            "cls": "ElectricKettle"
+        },
+        "hingecabinet_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_3_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "counter_05_front_group_1": {
+            "cls": "Counter"
+        },
+        "stack_02_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_02_front_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_02_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_01_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_01_front_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_front_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_front_group_1": {
+            "cls": "Toaster"
+        },
+        "fridgesidebyside_main_group_1": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridgesidebyside_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_6_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "counter_02_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_01_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group_1": {
+            "cls": "Counter"
+        },
+        "stove_main_group_1": {
+            "cls": "Stove"
+        },
+        "microwave_main_group_1": {
+            "cls": "Microwave"
+        },
+        "micro_cab_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_main_group_1": {
+            "cls": "Box"
+        },
+        "stack_03_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_03_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_03_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_04_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_04_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_04_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "papertowel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group_1": {
+            "cls": "ToasterOven"
+        },
+        "counter_04_front_group_2": {
+            "cls": "Counter"
+        },
+        "stack_10_front_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_10_front_group_2_1": {
+            "cls": "Drawer"
+        },
+        "stack_10_front_group_2_2": {
+            "cls": "Drawer"
+        },
+        "stack_10_front_group_2_3": {
+            "cls": "Drawer"
+        },
+        "stack_10_front_group_2_4": {
+            "cls": "Drawer"
+        },
+        "stack_09_front_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_09_front_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_09_front_group_2_2": {
+            "cls": "Drawer"
+        },
+        "cube_front_group_2": {
+            "cls": "Box"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Close the lid of the electric kettle.",
+    "fixture_refs": {
+        "electric_kettle": "electric_kettle_right_group_1"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
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+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
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+                0.29935253,
+                -0.37678665,
+                -0.6775092
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+            "camera_attribs": {
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+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
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+                -0.35,
+                1.05
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+                -0.2993525564670563,
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
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+            "quat": [
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+                -0.3673907518386841,
+                -0.5905545353889465
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        6.106591465800776,
+        -3.306316000937301,
+        0.0
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+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -0.00014782238328514552
+    ]
+}

pretrain/atomic/CloseElectricKettleLid/20250820/lerobot/extras/episode_000002/ep_meta.json

@@ -0,0 +1,358 @@
+{
+    "layout_id": 27,
+    "style_id": 57,
+    "object_cfgs": [],
+    "fixtures": {
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_1_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "window_group_2_room": {
+            "cls": "Window"
+        },
+        "window_group_3_room": {
+            "cls": "Window"
+        },
+        "window_group_4_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "sink_1_main_group": {
+            "cls": "Sink"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "box_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
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+        "stack_4_main_group_1": {
+            "cls": "SingleCabinet"
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+        "stack_4_main_group_2": {
+            "cls": "SingleCabinet"
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+        "bottom_main_group_base": {
+            "cls": "Box"
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+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "middle_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "electric_kettle_main_group": {
+            "cls": "ElectricKettle"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "box_left_group": {
+            "cls": "Box"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "stove_front_group": {
+            "cls": "Stove"
+        },
+        "counter_2_front_group": {
+            "cls": "Counter"
+        },
+        "counter_3_front_group": {
+            "cls": "Counter"
+        },
+        "counter_4_front_group": {
+            "cls": "Counter"
+        },
+        "counter_5_front_group": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_front_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_front_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_front_group_base": {
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+        },
+        "stack_3_front_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_front_group_2": {
+            "cls": "Drawer"
+        },
+        "box_1_front_group": {
+            "cls": "Box"
+        },
+        "box_2_front_group": {
+            "cls": "Box"
+        },
+        "box_3_front_group": {
+            "cls": "Box"
+        },
+        "hood_front_group": {
+            "cls": "Hood"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Close the lid of the electric kettle.",
+    "fixture_refs": {
+        "electric_kettle": "electric_kettle_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
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+                0.0,
+                1.15
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+                -0.6175596117973328
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+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
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+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
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+                0.3767866790294647,
+                -0.2993525564670563,
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+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
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+                0,
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+            ],
+            "quat": [
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+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        1.820868147580167,
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+        0.0
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+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}

pretrain/atomic/CloseElectricKettleLid/20250820/lerobot/extras/episode_000004/ep_meta.json

@@ -0,0 +1,415 @@
+{
+    "layout_id": 15,
+    "style_id": 43,
+    "object_cfgs": [],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_3_room": {
+            "cls": "Wall"
+        },
+        "wall_left_3_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_2_room": {
+            "cls": "Wall"
+        },
+        "wall_front_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_4_room": {
+            "cls": "Wall"
+        },
+        "wall_left_4_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_5_room": {
+            "cls": "Wall"
+        },
+        "wall_left_5_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_3_room": {
+            "cls": "Floor"
+        },
+        "floor_3_backing_room": {
+            "cls": "Floor"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_5_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_6_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "fridge_1_main_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_1_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "bottom_main_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "oven_main_group_1": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group_1": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "stovetop_1_left_group_1": {
+            "cls": "Stovetop"
+        },
+        "counter_1_left_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_2_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "hood_left_group_1": {
+            "cls": "Hood"
+        },
+        "cab_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "counter_1_front_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_front_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_front_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_oven_front_group_1": {
+            "cls": "ToasterOven"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "panel_stack_island_group_base": {
+            "cls": "Box"
+        },
+        "panel_stack_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "box_island_group": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_2_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_island_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "electric_kettle_island_group": {
+            "cls": "ElectricKettle"
+        },
+        "paper_towel_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Close the lid of the electric kettle.",
+    "fixture_refs": {
+        "electric_kettle": "electric_kettle_island_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
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+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        1.5909920685221781,
+        -2.4102047646774203,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.422854288892552e-08
+    ]
+}

pretrain/atomic/CloseElectricKettleLid/20250820/lerobot/extras/episode_000007/ep_meta.json

@@ -0,0 +1,364 @@
+{
+    "layout_id": 33,
+    "style_id": 34,
+    "object_cfgs": [],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3.001_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3.001_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2.001_room": {
+            "cls": "Floor"
+        },
+        "floor_2.001_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stool_4_room": {
+            "cls": "Stool"
+        },
+        "counter_2_right_group_1": {
+            "cls": "Counter"
+        },
+        "hingecabinet_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_3_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "fridgefrenchdoor_right_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_4_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "bottom_right_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "microwave_right_group_1": {
+            "cls": "Microwave"
+        },
+        "oven_cabinet_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_2_main_group_1": {
+            "cls": "Counter"
+        },
+        "widestove_main_group_1": {
+            "cls": "Stove"
+        },
+        "widestove_hood_main_group_1": {
+            "cls": "Hood"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group_1": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group_1": {
+            "cls": "ToasterOven"
+        },
+        "electric_kettle_main_group_1": {
+            "cls": "ElectricKettle"
+        },
+        "sink_island_group_1": {
+            "cls": "Sink"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_island_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_4_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_3_island_group_1": {
+            "cls": "Box"
+        },
+        "dishwasher_1_island_group_1": {
+            "cls": "Dishwasher"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Close the lid of the electric kettle.",
+    "fixture_refs": {
+        "electric_kettle": "electric_kettle_main_group_1"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
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+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
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+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.466692583594444,
+        -0.7864110224821855,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}

pretrain/atomic/CloseElectricKettleLid/20250820/lerobot/extras/episode_000008/ep_meta.json

@@ -0,0 +1,349 @@
+{
+    "layout_id": 53,
+    "style_id": 39,
+    "object_cfgs": [],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_2_room": {
+            "cls": "Wall"
+        },
+        "wall_front_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_4_room": {
+            "cls": "Wall"
+        },
+        "wall_front_4_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_3_room": {
+            "cls": "Wall"
+        },
+        "wall_front_3_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_5_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "window_group_2_room": {
+            "cls": "Window"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "hingecabinet_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "sink_main_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_2_main_group_1": {
+            "cls": "Counter"
+        },
+        "cube_2_main_group_1": {
+            "cls": "Box"
+        },
+        "cube_3_main_group_1": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_2_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "dishwasher_1_main_group_1": {
+            "cls": "Dishwasher"
+        },
+        "paper_towel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "electric_kettle_main_group_1": {
+            "cls": "ElectricKettle"
+        },
+        "dining_dining_area_group_1": {
+            "cls": "Counter"
+        },
+        "stack_3_dining_area_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_dining_area_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_dining_area_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_dining_area_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_dining_area_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_dining_area_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_dining_area_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_5_dining_area_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_dining_area_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_6_dining_area_group_1": {
+            "cls": "Box"
+        },
+        "cube_1_dining_area_group_1": {
+            "cls": "Box"
+        },
+        "cube_4_right_group_1": {
+            "cls": "Box"
+        },
+        "hingecabinet_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_3_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "counter_4_right_group_1": {
+            "cls": "Counter"
+        },
+        "counter_5_right_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "stove_right_group_1": {
+            "cls": "Stove"
+        },
+        "microwave_right_group_1": {
+            "cls": "Microwave"
+        },
+        "micro_cab_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_6_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_6_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_7_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_7_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_7_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_8_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_8_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_right_group_1": {
+            "cls": "ToasterOven"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "hingecabinet_4_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "counter_3_front_group_1": {
+            "cls": "Counter"
+        },
+        "stack_9_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_9_front_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_1_front_group_1": {
+            "cls": "Box"
+        },
+        "fridgefrenchdoor_front_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_front_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_2_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_front_group_1": {
+            "cls": "CoffeeMachine"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Close the lid of the electric kettle.",
+    "fixture_refs": {
+        "electric_kettle": "electric_kettle_main_group_1"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
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+                -0.6175596117973328
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+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
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+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
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+            "quat": [
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+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.8720929937985678,
+        -0.7842633585673069,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5706343213793446
+    ]
+}

pretrain/atomic/CloseElectricKettleLid/20250820/lerobot/extras/episode_000010/ep_meta.json

@@ -0,0 +1,400 @@
+{
+    "layout_id": 35,
+    "style_id": 33,
+    "object_cfgs": [],
+    "fixtures": {
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.002_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.003_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "box_1_main_group_1": {
+            "cls": "Box"
+        },
+        "hingecabinet_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "fridgefrenchdoor_main_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "knifeblock_main_group_1": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "sink_right_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "counter_2_right_group_1": {
+            "cls": "Counter"
+        },
+        "singlecabinet_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_2_right_group_1": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_1_right_group_1": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_right_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_1_right_group_1": {
+            "cls": "Dishwasher"
+        },
+        "cube_3_right_group_1": {
+            "cls": "Box"
+        },
+        "electric_kettle_right_group_1": {
+            "cls": "ElectricKettle"
+        },
+        "stovetop_left_group_1": {
+            "cls": "Stovetop"
+        },
+        "counter_1_left_group_1": {
+            "cls": "Counter"
+        },
+        "hingecabinet_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "bottom_left_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "oven_left_group_1": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group_1": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "coffeemachine_left_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_oven_left_group_1": {
+            "cls": "ToasterOven"
+        },
+        "counter_1_island_group": {
+            "cls": "Counter"
+        },
+        "stack_2_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "stack_2_dining_area_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_dining_area_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_dining_area_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_dining_area_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_dining_area_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_dining_area_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_dining_area_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_dining_area_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_dining_area_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_dining_area_group_2": {
+            "cls": "Drawer"
+        },
+        "stool_3_stool_group_1": {
+            "cls": "Stool"
+        },
+        "stool_2_stool_group_1": {
+            "cls": "Stool"
+        },
+        "stool_1_stool_group_1": {
+            "cls": "Stool"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Close the lid of the electric kettle.",
+    "fixture_refs": {
+        "electric_kettle": "electric_kettle_right_group_1"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
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+                0.0,
+                1.15
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+        },
+        "robot0_agentview_left": {
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+                -0.5,
+                0.35,
+                1.05
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+                0.29935253,
+                -0.37678665,
+                -0.6775092
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+            "camera_attribs": {
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+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
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+                1.05
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+                0.3767866790294647,
+                -0.2993525564670563,
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+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
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+                0.95
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+                -0.3673907518386841,
+                -0.5905545353889465
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.562925384774798,
+        -1.2450404320753299,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        0.00030199704781619374
+    ]
+}

pretrain/atomic/CloseElectricKettleLid/20250820/lerobot/extras/episode_000011/ep_meta.json

@@ -0,0 +1,319 @@
+{
+    "layout_id": 14,
+    "style_id": 43,
+    "object_cfgs": [],
+    "fixtures": {
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_room": {
+            "cls": "Wall"
+        },
+        "wall_main_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "stove_main_group_1": {
+            "cls": "Stove"
+        },
+        "counter_2_main_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "box_1_main_group_1": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "cab_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_main_group_1": {
+            "cls": "Microwave"
+        },
+        "micro_cab_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "electric_kettle_main_group_1": {
+            "cls": "ElectricKettle"
+        },
+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group_1": {
+            "cls": "Counter"
+        },
+        "fridge_left_group_1": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "fridge_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_1.002_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "box_1_left_group_1": {
+            "cls": "Box"
+        },
+        "cab_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_oven_left_group_1": {
+            "cls": "ToasterOven"
+        },
+        "knife_block_left_group_1": {
+            "cls": "Accessory"
+        },
+        "sink_1_island_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_island_group_1": {
+            "cls": "Counter"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "box_island_group_1": {
+            "cls": "Box"
+        },
+        "panel_stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "panel_stack_1_island_group_1_1": {
+            "cls": "PanelCabinet"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_island_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group_1": {
+            "cls": "Dishwasher"
+        },
+        "panel_stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "panel_stack_2_island_group_1_1": {
+            "cls": "PanelCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Close the lid of the electric kettle.",
+    "fixture_refs": {
+        "electric_kettle": "electric_kettle_main_group_1"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
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+                -0.3199238181114197,
+                -0.6175596117973328
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+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
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+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
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+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        1.5396163043552487,
+        -0.7653782654220606,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}

pretrain/atomic/CloseElectricKettleLid/20250820/lerobot/extras/episode_000012/ep_meta.json

@@ -0,0 +1,352 @@
+{
+    "layout_id": 47,
+    "style_id": 51,
+    "object_cfgs": [],
+    "fixtures": {
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_5_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_02_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_01_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_6.001_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "hingecabinet_5_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_4_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "sink_right_group_1": {
+            "cls": "Sink"
+        },
+        "counter_03_right_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_right_group_1": {
+            "cls": "Counter"
+        },
+        "stack_05_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_05_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_05_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "box_05_right_group_1": {
+            "cls": "Box"
+        },
+        "dishwasher_1_right_group_1": {
+            "cls": "Dishwasher"
+        },
+        "stack_06_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_06_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_06_right_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_08_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_08_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_08_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "electric_kettle_right_group_1": {
+            "cls": "ElectricKettle"
+        },
+        "hingecabinet_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_3_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "counter_05_front_group_1": {
+            "cls": "Counter"
+        },
+        "stack_02_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_02_front_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_02_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_01_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_01_front_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_front_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_front_group_1": {
+            "cls": "Toaster"
+        },
+        "fridgesidebyside_main_group_1": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridgesidebyside_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_6_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "counter_02_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_01_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group_1": {
+            "cls": "Counter"
+        },
+        "stove_main_group_1": {
+            "cls": "Stove"
+        },
+        "microwave_main_group_1": {
+            "cls": "Microwave"
+        },
+        "micro_cab_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_main_group_1": {
+            "cls": "Box"
+        },
+        "stack_03_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_03_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_03_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_04_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_04_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_04_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "papertowel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group_1": {
+            "cls": "ToasterOven"
+        },
+        "counter_04_front_group_2": {
+            "cls": "Counter"
+        },
+        "stack_10_front_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_10_front_group_2_1": {
+            "cls": "Drawer"
+        },
+        "stack_10_front_group_2_2": {
+            "cls": "Drawer"
+        },
+        "stack_10_front_group_2_3": {
+            "cls": "Drawer"
+        },
+        "stack_10_front_group_2_4": {
+            "cls": "Drawer"
+        },
+        "stack_09_front_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_09_front_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_09_front_group_2_2": {
+            "cls": "Drawer"
+        },
+        "cube_front_group_2": {
+            "cls": "Box"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Close the lid of the electric kettle.",
+    "fixture_refs": {
+        "electric_kettle": "electric_kettle_right_group_1"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
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+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
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+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
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+                -0.35,
+                1.05
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+                -0.2993525564670563,
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
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+                0,
+                0.95
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+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
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+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        6.103106540061264,
+        -2.9292966567560663,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -0.00014782238328514552
+    ]
+}

pretrain/atomic/CloseElectricKettleLid/20250820/lerobot/extras/episode_000014/ep_meta.json

@@ -0,0 +1,400 @@
+{
+    "layout_id": 35,
+    "style_id": 50,
+    "object_cfgs": [],
+    "fixtures": {
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.002_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.003_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "box_1_main_group_1": {
+            "cls": "Box"
+        },
+        "hingecabinet_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "fridgefrenchdoor_main_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "knifeblock_main_group_1": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "sink_right_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "counter_2_right_group_1": {
+            "cls": "Counter"
+        },
+        "singlecabinet_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_2_right_group_1": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_1_right_group_1": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_right_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_1_right_group_1": {
+            "cls": "Dishwasher"
+        },
+        "cube_3_right_group_1": {
+            "cls": "Box"
+        },
+        "electric_kettle_right_group_1": {
+            "cls": "ElectricKettle"
+        },
+        "stovetop_left_group_1": {
+            "cls": "Stovetop"
+        },
+        "counter_1_left_group_1": {
+            "cls": "Counter"
+        },
+        "hingecabinet_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "bottom_left_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "oven_left_group_1": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group_1": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "coffeemachine_left_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_oven_left_group_1": {
+            "cls": "ToasterOven"
+        },
+        "counter_1_island_group": {
+            "cls": "Counter"
+        },
+        "stack_2_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "stack_2_dining_area_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_dining_area_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_dining_area_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_dining_area_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_dining_area_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_dining_area_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_dining_area_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_dining_area_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_dining_area_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_dining_area_group_2": {
+            "cls": "Drawer"
+        },
+        "stool_3_stool_group_1": {
+            "cls": "Stool"
+        },
+        "stool_2_stool_group_1": {
+            "cls": "Stool"
+        },
+        "stool_1_stool_group_1": {
+            "cls": "Stool"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Close the lid of the electric kettle.",
+    "fixture_refs": {
+        "electric_kettle": "electric_kettle_right_group_1"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
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+        },
+        "robot0_agentview_left": {
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+                0.35,
+                1.05
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+                0.29935253,
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
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+                -0.35,
+                1.05
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
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+            "camera_attribs": {
+                "fovy": "60"
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+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.5510301187891065,
+        -1.4684113519870166,
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+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        0.00030199704781619374
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+}

pretrain/atomic/CloseElectricKettleLid/20250820/lerobot/extras/episode_000015/ep_meta.json

@@ -0,0 +1,355 @@
+{
+    "layout_id": 21,
+    "style_id": 39,
+    "object_cfgs": [],
+    "fixtures": {
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_5_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_6_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_7_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "sink_main_group": {
+            "cls": "Sink"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "box_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_main_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
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+        "stack_2_main_group_1": {
+            "cls": "SingleCabinet"
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+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "electric_kettle_main_group": {
+            "cls": "ElectricKettle"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
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+        "counter_2_left_group": {
+            "cls": "Counter"
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+        "hood_left_group": {
+            "cls": "Hood"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
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+        "stack_2_left_group_base": {
+            "cls": "Box"
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+        "stack_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "box_left_group": {
+            "cls": "Box"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_4_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_left_group_2": {
+            "cls": "Drawer"
+        },
+        "counter_3_left_group": {
+            "cls": "Counter"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_4_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "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": "HingeCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_island_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_island_group_2": {
+            "cls": "Drawer"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Close the lid of the electric kettle.",
+    "fixture_refs": {
+        "electric_kettle": "electric_kettle_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
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+        },
+        "robot0_agentview_left": {
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+                0.35,
+                1.05
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+                0.29935253,
+                -0.37678665,
+                -0.6775092
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
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+                -0.35,
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+            },
+            "parent_body": "mobilebase0_support"
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+        "robot0_frontview": {
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+            "parent_body": "mobilebase0_support"
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+        "robot0_eye_in_hand": {
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+            "quat": [
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+                0.707107,
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+            "parent_body": "robot0_right_hand"
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+        -0.8228012156091971,
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+        0.0,
+        1.5707963267948966
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+}

pretrain/atomic/CloseElectricKettleLid/20250820/lerobot/extras/episode_000018/ep_meta.json

@@ -0,0 +1,319 @@
+{
+    "layout_id": 14,
+    "style_id": 54,
+    "object_cfgs": [],
+    "fixtures": {
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_room": {
+            "cls": "Wall"
+        },
+        "wall_main_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "stove_main_group_1": {
+            "cls": "Stove"
+        },
+        "counter_2_main_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "box_1_main_group_1": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "cab_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_main_group_1": {
+            "cls": "Microwave"
+        },
+        "micro_cab_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "electric_kettle_main_group_1": {
+            "cls": "ElectricKettle"
+        },
+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group_1": {
+            "cls": "Counter"
+        },
+        "fridge_left_group_1": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "fridge_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_1.002_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_1_2": {
+            "cls": "Drawer"
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+        "stack_2_left_group_1_base": {
+            "cls": "Box"
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+        "stack_2_left_group_1_1": {
+            "cls": "HingeCabinet"
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+        "stack_2_left_group_1_2": {
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+        "stack_3_left_group_1_base": {
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+        "stack_3_left_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "box_1_left_group_1": {
+            "cls": "Box"
+        },
+        "cab_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_oven_left_group_1": {
+            "cls": "ToasterOven"
+        },
+        "knife_block_left_group_1": {
+            "cls": "Accessory"
+        },
+        "sink_1_island_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_island_group_1": {
+            "cls": "Counter"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "box_island_group_1": {
+            "cls": "Box"
+        },
+        "panel_stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "panel_stack_1_island_group_1_1": {
+            "cls": "PanelCabinet"
+        },
+        "stack_1_island_group_1_base": {
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+        },
+        "stack_1_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_island_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group_1": {
+            "cls": "Dishwasher"
+        },
+        "panel_stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "panel_stack_2_island_group_1_1": {
+            "cls": "PanelCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Close the lid of the electric kettle.",
+    "fixture_refs": {
+        "electric_kettle": "electric_kettle_main_group_1"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
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+                1.15
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+                -0.6175596117973328
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+            "parent_body": "mobilebase0_support"
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+        "robot0_eye_in_hand": {
+            "pos": [
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+            "quat": [
+                0,
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+                0.707107,
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+    "init_robot_base_pos": [
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+}

pretrain/atomic/CloseElectricKettleLid/20250820/lerobot/extras/episode_000022/ep_meta.json

@@ -0,0 +1,358 @@
+{
+    "layout_id": 27,
+    "style_id": 24,
+    "object_cfgs": [],
+    "fixtures": {
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_1_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "window_group_2_room": {
+            "cls": "Window"
+        },
+        "window_group_3_room": {
+            "cls": "Window"
+        },
+        "window_group_4_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "sink_1_main_group": {
+            "cls": "Sink"
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+        "counter_1_main_group": {
+            "cls": "Counter"
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+        "box_main_group": {
+            "cls": "Box"
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+        "stack_1_main_group_base": {
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+        "stack_1_main_group_1": {
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+        "stack_2_main_group_1": {
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+        "stack_3_main_group_base": {
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+        "stack_3_main_group_1": {
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+        "stack_3_main_group_2": {
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+        "stack_3_main_group_3": {
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+        "stack_4_main_group_base": {
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+        "stack_4_main_group_2": {
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+        "bottom_main_group_1": {
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+        "middle_main_group": {
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+        "microwave_main_group": {
+            "cls": "Microwave"
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+        "microwave_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
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+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
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+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "electric_kettle_main_group": {
+            "cls": "ElectricKettle"
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+        "counter_1_left_group": {
+            "cls": "Counter"
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+        "stack_1_left_group_base": {
+            "cls": "Box"
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+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
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+        "stack_1_left_group_2": {
+            "cls": "Drawer"
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+        "stack_2_left_group_base": {
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+        "stack_2_left_group_1": {
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+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
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+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
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+        "box_left_group": {
+            "cls": "Box"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
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+        "fridge_top_left_group": {
+            "cls": "HingeCabinet"
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+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
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+        "counter_1_front_group": {
+            "cls": "Counter"
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+        "stove_front_group": {
+            "cls": "Stove"
+        },
+        "counter_2_front_group": {
+            "cls": "Counter"
+        },
+        "counter_3_front_group": {
+            "cls": "Counter"
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+        "counter_4_front_group": {
+            "cls": "Counter"
+        },
+        "counter_5_front_group": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_base": {
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+        },
+        "stack_1_front_group_1": {
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+        },
+        "stack_1_front_group_2": {
+            "cls": "Drawer"
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+        "stack_2_front_group_base": {
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+        "box_3_front_group": {
+            "cls": "Box"
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+        "hood_front_group": {
+            "cls": "Hood"
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+    "gen_textures": {},
+    "lang": "Close the lid of the electric kettle.",
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+        "electric_kettle": "electric_kettle_main_group"
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+}

pretrain/atomic/CloseElectricKettleLid/20250820/lerobot/extras/episode_000024/ep_meta.json

@@ -0,0 +1,358 @@
+{
+    "layout_id": 42,
+    "style_id": 39,
+    "object_cfgs": [],
+    "fixtures": {
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+        "wall_left_1_backing_room": {
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+        "wall_main_1_room": {
+            "cls": "Wall"
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+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_4_room": {
+            "cls": "Wall"
+        },
+        "wall_main_4_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
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+        "wall_left_2_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
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+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.002_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_4_room": {
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+        "stool_3_room": {
+            "cls": "Stool"
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+        "counter_1_main_group_1": {
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+        },
+        "counter_corner_1_main_group_1": {
+            "cls": "Counter"
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+        "stack_1_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "cube_1_main_group_1": {
+            "cls": "Box"
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+        "fridgefrenchdoor_main_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "coffeemachine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "papertowel_main_group_1": {
+            "cls": "Accessory"
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+        "stovetop_right_group_1": {
+            "cls": "Stovetop"
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+        "counter_1_right_group_1": {
+            "cls": "Counter"
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+        "hingecabinet_3_right_group_1": {
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+        "hingecabinet_4_right_group_1": {
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+        "hingecabinet_1_right_group_1": {
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+        "oven_right_group_1": {
+            "cls": "Oven"
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+        "oven_housing_right_group_1": {
+            "cls": "HousingCabinet"
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+        "microwave_right_group_1": {
+            "cls": "Microwave"
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+        "microwave_housing_right_group_1": {
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+        "toaster_right_group_1": {
+            "cls": "Toaster"
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+        "electric_kettle_right_group_1": {
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+        "counter_1_left_group_1": {
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+        "plant_left_group_1": {
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+        "stack_3_island_group_1_1": {
+            "cls": "SingleCabinet"
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+        "stack_2_island_group_1_base": {
+            "cls": "Box"
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+        "stack_2_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_1_island_group_1": {
+            "cls": "Dishwasher"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Close the lid of the electric kettle.",
+    "fixture_refs": {
+        "electric_kettle": "electric_kettle_right_group_1"
+    },
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+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        0.00030199704781619374
+    ]
+}

pretrain/atomic/CloseElectricKettleLid/20250820/lerobot/extras/episode_000025/ep_meta.json

@@ -0,0 +1,313 @@
+{
+    "layout_id": 36,
+    "style_id": 32,
+    "object_cfgs": [],
+    "fixtures": {
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_3_room": {
+            "cls": "Wall"
+        },
+        "wall_left_3_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_2_room": {
+            "cls": "Wall"
+        },
+        "wall_front_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_5_room": {
+            "cls": "Wall"
+        },
+        "wall_left_5_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.001_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.002_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.003_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "counter_1_front_group_1": {
+            "cls": "Counter"
+        },
+        "fridgefrenchdoor_front_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_front_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_2_front_group_1": {
+            "cls": "Box"
+        },
+        "cube_1_front_group_1": {
+            "cls": "Box"
+        },
+        "papertowel_front_group_1": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "counter_2_right_group_1": {
+            "cls": "Counter"
+        },
+        "stove_right_group_1": {
+            "cls": "Stove"
+        },
+        "microwave_right_group_1": {
+            "cls": "Microwave"
+        },
+        "micro_cab_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "plant_right_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "electric_kettle_right_group_1": {
+            "cls": "ElectricKettle"
+        },
+        "toaster_oven_right_group_1": {
+            "cls": "ToasterOven"
+        },
+        "sink_left_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group_1": {
+            "cls": "Counter"
+        },
+        "hingecabinet_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_1_left_group_1": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "dishwasher_1_left_group_1": {
+            "cls": "Dishwasher"
+        },
+        "coffee_machine_left_group_1": {
+            "cls": "CoffeeMachine"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Close the lid of the electric kettle.",
+    "fixture_refs": {
+        "electric_kettle": "electric_kettle_right_group_1"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
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+                0.0,
+                1.15
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+        },
+        "robot0_agentview_left": {
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+                0.35,
+                1.05
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+                0.29935253,
+                -0.37678665,
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+            "camera_attribs": {
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+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
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+                -0.35,
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
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+                0,
+                0.95
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+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.1386042964704233,
+        -2.5293472187089985,
+        0.0
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+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        0.00030199704781619374
+    ]
+}

pretrain/atomic/CloseElectricKettleLid/20250820/lerobot/extras/episode_000027/ep_meta.json

@@ -0,0 +1,280 @@
+{
+    "layout_id": 37,
+    "style_id": 13,
+    "object_cfgs": [],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_left_group_1": {
+            "cls": "Stovetop"
+        },
+        "counter_1_left_group_1": {
+            "cls": "Counter"
+        },
+        "hingecabinet_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_left_group_1": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cube_1_left_group_1": {
+            "cls": "Box"
+        },
+        "fridgefrenchdoor_left_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "bottom_left_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "oven_left_group_1": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_cabinet_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "top_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_1_3": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "papertowel_left_group_1": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_left_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_left_group_1": {
+            "cls": "Toaster"
+        },
+        "electric_kettle_left_group_1": {
+            "cls": "ElectricKettle"
+        },
+        "sink_island_group_1": {
+            "cls": "Sink"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "cube_5_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_3_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_4_island_group_1": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_island_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_1_island_group_1": {
+            "cls": "Dishwasher"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Close the lid of the electric kettle.",
+    "fixture_refs": {
+        "electric_kettle": "electric_kettle_left_group_1"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
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+                0.0,
+                1.15
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+        },
+        "robot0_agentview_left": {
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+        "robot0_agentview_right": {
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+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
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+                0,
+                0
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+            "quat": [
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+                0.707107,
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+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        0.8149774918599906,
+        -2.963255895713547,
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+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1412906566438026
+    ]
+}

pretrain/atomic/CloseElectricKettleLid/20250820/lerobot/extras/episode_000028/ep_meta.json

@@ -0,0 +1,373 @@
+{
+    "layout_id": 28,
+    "style_id": 38,
+    "object_cfgs": [],
+    "fixtures": {
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_room": {
+            "cls": "Wall"
+        },
+        "wall_main_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_3_room": {
+            "cls": "Wall"
+        },
+        "wall_left_3_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_1_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stool_4_room": {
+            "cls": "Stool"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "sink_main_group": {
+            "cls": "Sink"
+        },
+        "counter_2_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_7_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_7_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_7_main_group_2": {
+            "cls": "HingeCabinet"
+        },
+        "stack_7_main_group_3": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "electric_kettle_main_group": {
+            "cls": "ElectricKettle"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "stovetop_island_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_island_group": {
+            "cls": "Counter"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "cube_island_group": {
+            "cls": "Box"
+        },
+        "panel_cab_1_island_group_base": {
+            "cls": "Box"
+        },
+        "panel_cab_1_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_island_group_2": {
+            "cls": "Drawer"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_island_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_island_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_island_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_island_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_island_group_2": {
+            "cls": "Drawer"
+        },
+        "panel_cab_2_island_group_base": {
+            "cls": "Box"
+        },
+        "panel_cab_2_island_group_1": {
+            "cls": "PanelCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Close the lid of the electric kettle.",
+    "fixture_refs": {
+        "electric_kettle": "electric_kettle_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.116812244958238,
+        -0.766485992492142,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}

pretrain/atomic/CloseElectricKettleLid/20250820/lerobot/extras/episode_000032/ep_meta.json

@@ -0,0 +1,376 @@
+{
+    "layout_id": 18,
+    "style_id": 49,
+    "object_cfgs": [],
+    "fixtures": {
+        "wall_main_room": {
+            "cls": "Wall"
+        },
+        "wall_main_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_3_room": {
+            "cls": "Wall"
+        },
+        "wall_left_3_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "light_switch_1_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_4_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_5_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_6_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_7_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "window_group_2_room": {
+            "cls": "Window"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "box_1_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "stovetop_left_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_5": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_6": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "PanelCabinet"
+        },
+        "stack_4_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_5": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_6": {
+            "cls": "Drawer"
+        },
+        "stack_5_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "hood_left_group": {
+            "cls": "Hood"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "paper_towel_left_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "electric_kettle_left_group": {
+            "cls": "ElectricKettle"
+        },
+        "sink_1_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "box_1_right_group": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_1_right_group": {
+            "cls": "Dishwasher"
+        },
+        "panel_stack_right_group_base": {
+            "cls": "Box"
+        },
+        "panel_stack_right_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "wall_stack_right_group_base": {
+            "cls": "Box"
+        },
+        "wall_stack_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Close the lid of the electric kettle.",
+    "fixture_refs": {
+        "electric_kettle": "electric_kettle_left_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        0.8332486010636655,
+        -3.5042815127940026,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.141592787948654
+    ]
+}

pretrain/atomic/CloseElectricKettleLid/20250820/lerobot/extras/episode_000033/ep_meta.json

@@ -0,0 +1,352 @@
+{
+    "layout_id": 47,
+    "style_id": 53,
+    "object_cfgs": [],
+    "fixtures": {
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_5_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_02_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_01_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_6.001_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "hingecabinet_5_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_4_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "sink_right_group_1": {
+            "cls": "Sink"
+        },
+        "counter_03_right_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_right_group_1": {
+            "cls": "Counter"
+        },
+        "stack_05_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_05_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_05_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "box_05_right_group_1": {
+            "cls": "Box"
+        },
+        "dishwasher_1_right_group_1": {
+            "cls": "Dishwasher"
+        },
+        "stack_06_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_06_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_06_right_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_08_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_08_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_08_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "electric_kettle_right_group_1": {
+            "cls": "ElectricKettle"
+        },
+        "hingecabinet_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_3_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "counter_05_front_group_1": {
+            "cls": "Counter"
+        },
+        "stack_02_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_02_front_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_02_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_01_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_01_front_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_front_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_front_group_1": {
+            "cls": "Toaster"
+        },
+        "fridgesidebyside_main_group_1": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridgesidebyside_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_6_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "counter_02_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_01_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group_1": {
+            "cls": "Counter"
+        },
+        "stove_main_group_1": {
+            "cls": "Stove"
+        },
+        "microwave_main_group_1": {
+            "cls": "Microwave"
+        },
+        "micro_cab_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_main_group_1": {
+            "cls": "Box"
+        },
+        "stack_03_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_03_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_03_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_04_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_04_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_04_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "papertowel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group_1": {
+            "cls": "ToasterOven"
+        },
+        "counter_04_front_group_2": {
+            "cls": "Counter"
+        },
+        "stack_10_front_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_10_front_group_2_1": {
+            "cls": "Drawer"
+        },
+        "stack_10_front_group_2_2": {
+            "cls": "Drawer"
+        },
+        "stack_10_front_group_2_3": {
+            "cls": "Drawer"
+        },
+        "stack_10_front_group_2_4": {
+            "cls": "Drawer"
+        },
+        "stack_09_front_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_09_front_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_09_front_group_2_2": {
+            "cls": "Drawer"
+        },
+        "cube_front_group_2": {
+            "cls": "Box"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Close the lid of the electric kettle.",
+    "fixture_refs": {
+        "electric_kettle": "electric_kettle_right_group_1"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        6.109288942732333,
+        -3.2880075748584274,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -0.00014782238328514552
+    ]
+}

pretrain/atomic/CloseElectricKettleLid/20250820/lerobot/extras/episode_000036/ep_meta.json

@@ -0,0 +1,319 @@
+{
+    "layout_id": 59,
+    "style_id": 33,
+    "object_cfgs": [],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_01_room": {
+            "cls": "Wall"
+        },
+        "wall_left_01_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_02_room": {
+            "cls": "Wall"
+        },
+        "wall_left_02_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_03_room": {
+            "cls": "Wall"
+        },
+        "wall_left_03_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_04_room": {
+            "cls": "Wall"
+        },
+        "wall_left_04_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_01_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_02_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_03_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_04_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "window_group_2_room": {
+            "cls": "Window"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "fridgefrenchdoor_left_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "bottom_left_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "microwave_left_group_1": {
+            "cls": "Microwave"
+        },
+        "oven_cabinet_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_island_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "cube_3_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_4_island_group_1": {
+            "cls": "Box"
+        },
+        "dishwasher_1_island_group_1": {
+            "cls": "Dishwasher"
+        },
+        "sink_island_group_1": {
+            "cls": "Sink"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "electric_kettle_island_group_1": {
+            "cls": "ElectricKettle"
+        },
+        "stack_01_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_01_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_01_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_02_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_02_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_02_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_03_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_03_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_03_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_04_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_04_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_04_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "counter_2_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_3_main_group_1": {
+            "cls": "Counter"
+        },
+        "widestove_main_group_1": {
+            "cls": "Stove"
+        },
+        "widestove_hood_main_group_1": {
+            "cls": "Hood"
+        },
+        "singlecabinet_03_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_02_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_01_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_04_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "paper_towel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group_1": {
+            "cls": "ToasterOven"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Close the lid of the electric kettle.",
+    "fixture_refs": {
+        "electric_kettle": "electric_kettle_island_group_1"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.201791605993179,
+        -2.0938941934113897,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -1.570796175799094
+    ]
+}

pretrain/atomic/CloseElectricKettleLid/20250820/lerobot/extras/episode_000037/ep_meta.json

@@ -0,0 +1,442 @@
+{
+    "layout_id": 12,
+    "style_id": 36,
+    "object_cfgs": [],
+    "fixtures": {
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_5_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stool_4_room": {
+            "cls": "Stool"
+        },
+        "stool_5_room": {
+            "cls": "Stool"
+        },
+        "stool_6_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_1_main_group": {
+            "cls": "Counter"
+        },
+        "sink_1_main_group": {
+            "cls": "Sink"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "box_1_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_1_main_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "box_2_main_group": {
+            "cls": "Box"
+        },
+        "top_corner_1_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "top_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "electric_kettle_main_group": {
+            "cls": "ElectricKettle"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "stovetop_left_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "box_1_left_group": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "PanelCabinet"
+        },
+        "box_3_left_group": {
+            "cls": "Box"
+        },
+        "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"
+        },
+        "box_2_left_group": {
+            "cls": "Box"
+        },
+        "fridge_1_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_1_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "hood_left_group": {
+            "cls": "Hood"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "bottom_right_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "oven_right_group_1": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_right_group_1": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_1": {
+            "cls": "PanelCabinet"
+        },
+        "box_right_group_1": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "cab_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "panel_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "panel_stack_1_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_island_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_island_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_island_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_island_group_2": {
+            "cls": "Drawer"
+        },
+        "panel_stack_2_island_group_base": {
+            "cls": "Box"
+        },
+        "panel_stack_2_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "box_1_island_group": {
+            "cls": "Box"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Close the lid of the electric kettle.",
+    "fixture_refs": {
+        "electric_kettle": "electric_kettle_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
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+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
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+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
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+            "quat": [
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+                -0.2993525564670563,
+                -0.55623859167099
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
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+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        1.4392715187371825,
+        -0.8092054185012953,
+        0.0
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+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}

pretrain/atomic/CloseElectricKettleLid/20250820/lerobot/extras/episode_000039/ep_meta.json

@@ -0,0 +1,334 @@
+{
+    "layout_id": 45,
+    "style_id": 51,
+    "object_cfgs": [],
+    "fixtures": {
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.003_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.004_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.002_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "window_group_2_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "sink_main_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_1_main_group_1": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1_base": {
+            "cls": "Box"
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+        "stack_2_main_group_1_1": {
+            "cls": "HingeCabinet"
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+        "dishwasher_1_main_group_1": {
+            "cls": "Dishwasher"
+        },
+        "cube_2_main_group_1": {
+            "cls": "Box"
+        },
+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "knife_block_main_group_1": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "electric_kettle_main_group_1": {
+            "cls": "ElectricKettle"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "stove_right_group_1": {
+            "cls": "Stove"
+        },
+        "microwave_right_group_1": {
+            "cls": "Microwave"
+        },
+        "micro_cab_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "counter_2_right_group_1": {
+            "cls": "Counter"
+        },
+        "fridgesidebyside_right_group_1": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridgesidebyside_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_5_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_4_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "cube_1_right_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_right_group_1": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "cube_island_group_1": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "panelbox_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "panelbox_2_island_group_1_1": {
+            "cls": "PanelCabinet"
+        },
+        "panelbox_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "panelbox_1_island_group_1_1": {
+            "cls": "PanelCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Close the lid of the electric kettle.",
+    "fixture_refs": {
+        "electric_kettle": "electric_kettle_main_group_1"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
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+                0.0,
+                1.15
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+        },
+        "robot0_agentview_left": {
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+                0.35,
+                1.05
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+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
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+                -0.35,
+                1.05
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+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
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+                -0.3673907518386841,
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
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+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.4054022703276483,
+        -0.7951351783196767,
+        0.0
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+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}

pretrain/atomic/CloseElectricKettleLid/20250820/lerobot/extras/episode_000044/ep_meta.json

@@ -0,0 +1,373 @@
+{
+    "layout_id": 28,
+    "style_id": 58,
+    "object_cfgs": [],
+    "fixtures": {
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_room": {
+            "cls": "Wall"
+        },
+        "wall_main_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_3_room": {
+            "cls": "Wall"
+        },
+        "wall_left_3_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_1_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stool_4_room": {
+            "cls": "Stool"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "sink_main_group": {
+            "cls": "Sink"
+        },
+        "counter_2_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_7_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_7_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_7_main_group_2": {
+            "cls": "HingeCabinet"
+        },
+        "stack_7_main_group_3": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "electric_kettle_main_group": {
+            "cls": "ElectricKettle"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "stovetop_island_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_island_group": {
+            "cls": "Counter"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "cube_island_group": {
+            "cls": "Box"
+        },
+        "panel_cab_1_island_group_base": {
+            "cls": "Box"
+        },
+        "panel_cab_1_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_island_group_2": {
+            "cls": "Drawer"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_island_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_island_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_island_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_island_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_island_group_2": {
+            "cls": "Drawer"
+        },
+        "panel_cab_2_island_group_base": {
+            "cls": "Box"
+        },
+        "panel_cab_2_island_group_1": {
+            "cls": "PanelCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Close the lid of the electric kettle.",
+    "fixture_refs": {
+        "electric_kettle": "electric_kettle_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
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+        },
+        "robot0_agentview_left": {
+            "pos": [
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+                0.35,
+                1.05
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+                0.29935253,
+                -0.37678665,
+                -0.6775092
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
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+                -0.35,
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+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
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+            "quat": [
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.9252410943437637,
+        -0.8209895814673895,
+        0.0
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+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}

pretrain/atomic/CloseElectricKettleLid/20250820/lerobot/extras/episode_000048/ep_meta.json

@@ -0,0 +1,310 @@
+{
+    "layout_id": 58,
+    "style_id": 12,
+    "object_cfgs": [],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_7_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_03_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_01_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_02_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "window_group_2_room": {
+            "cls": "Window"
+        },
+        "window_group_3_room": {
+            "cls": "Window"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "sink_main_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "hingecabinet_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cube_14_main_group_1": {
+            "cls": "Box"
+        },
+        "stack_04_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_04_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_04_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_03_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_03_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_03_main_group_1_2": {
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+        "stack_02_main_group_1_base": {
+            "cls": "Box"
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+        "stack_02_main_group_1_1": {
+            "cls": "HingeCabinet"
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+        "stack_02_main_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_1_main_group_1": {
+            "cls": "Dishwasher"
+        },
+        "stack_01_main_group_1_base": {
+            "cls": "Box"
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+        "stack_01_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "cube_15_main_group_1": {
+            "cls": "Box"
+        },
+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "electric_kettle_main_group_1": {
+            "cls": "ElectricKettle"
+        },
+        "bottom_left_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "microwave_left_group_1": {
+            "cls": "Microwave"
+        },
+        "fridgefrenchdoor_left_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "oven_cabinet_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_1_island_group_1": {
+            "cls": "Counter"
+        },
+        "island_2_island_group_1": {
+            "cls": "Counter"
+        },
+        "island_3_island_group_1": {
+            "cls": "Counter"
+        },
+        "stove_island_group_1": {
+            "cls": "Stove"
+        },
+        "stove_hood_island_group_1": {
+            "cls": "Hood"
+        },
+        "stack_06_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_06_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_06_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_07_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_07_island_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_07_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_07_island_group_1_3": {
+            "cls": "Drawer"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_island_group_1": {
+            "cls": "Box"
+        },
+        "stack_08_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_08_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_16_island_group_1": {
+            "cls": "Box"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Close the lid of the electric kettle.",
+    "fixture_refs": {
+        "electric_kettle": "electric_kettle_main_group_1"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
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+                0.0,
+                1.15
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+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
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+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
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+                -0.35,
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+                0.3767866790294647,
+                -0.2993525564670563,
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+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
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+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.364089835980966,
+        -0.8211487115380338,
+        0.0
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+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}

pretrain/atomic/CloseElectricKettleLid/20250820/lerobot/extras/episode_000049/ep_meta.json

@@ -0,0 +1,505 @@
+{
+    "layout_id": 39,
+    "style_id": 55,
+    "object_cfgs": [],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_5_room": {
+            "cls": "Wall"
+        },
+        "wall_front_5_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_5_room": {
+            "cls": "Wall"
+        },
+        "wall_right_5_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_4_room": {
+            "cls": "Wall"
+        },
+        "wall_front_4_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_4_room": {
+            "cls": "Wall"
+        },
+        "wall_right_4_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_3_room": {
+            "cls": "Wall"
+        },
+        "wall_front_3_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_2_room": {
+            "cls": "Wall"
+        },
+        "wall_front_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_6_room": {
+            "cls": "Wall"
+        },
+        "wall_front_6_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_7_room": {
+            "cls": "Wall"
+        },
+        "wall_front_7_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_3_room": {
+            "cls": "Floor"
+        },
+        "floor_3_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_5_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_6.001_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "sink_main_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "fridgefrenchdoor_main_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_4_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_3_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_1_main_group_1": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_7_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_7_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_7_main_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_1_main_group_1": {
+            "cls": "Dishwasher"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "knifeblock_main_group_1": {
+            "cls": "Accessory"
+        },
+        "papertowel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "electric_kettle_main_group_1": {
+            "cls": "ElectricKettle"
+        },
+        "stovetop_island_group_1": {
+            "cls": "Stovetop"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_island_group_2.001_base": {
+            "cls": "Box"
+        },
+        "stack_5_island_group_2.001_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_island_group_2.001_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_island_group_2.001_base": {
+            "cls": "Box"
+        },
+        "stack_6_island_group_2.001_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_island_group_2.001_2": {
+            "cls": "Drawer"
+        },
+        "stack_7_island_group_2.001_base": {
+            "cls": "Box"
+        },
+        "stack_7_island_group_2.001_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_7_island_group_2.001_2": {
+            "cls": "Drawer"
+        },
+        "stack_8_island_group_2.001_base": {
+            "cls": "Box"
+        },
+        "stack_8_island_group_2.001_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_8_island_group_2.001_2": {
+            "cls": "Drawer"
+        },
+        "counter_1_front_group_1": {
+            "cls": "Counter"
+        },
+        "hingecabinet_2_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_front_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_front_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_front_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_5_front_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_5_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_front_group_1_3": {
+            "cls": "Drawer"
+        },
+        "bottom_front_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_front_group_1_1": {
+            "cls": "Drawer"
+        },
+        "oven_front_group_1": {
+            "cls": "Oven"
+        },
+        "oven_housing_front_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_front_group_1": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_front_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "coffeemachine_front_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_oven_front_group_1": {
+            "cls": "ToasterOven"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Close the lid of the electric kettle.",
+    "fixture_refs": {
+        "electric_kettle": "electric_kettle_main_group_1"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
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+                -0.6175596117973328
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+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
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+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
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+                -0.55623859167099
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
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+            "quat": [
+                0.6088936924934387,
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+                -0.3673907518386841,
+                -0.5905545353889465
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        1.1011727783407623,
+        -0.751919852705222,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}

pretrain/atomic/CloseElectricKettleLid/20250820/lerobot/extras/episode_000050/ep_meta.json

@@ -0,0 +1,346 @@
+{
+    "layout_id": 57,
+    "style_id": 23,
+    "object_cfgs": [],
+    "fixtures": {
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_01_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "hingecabinet_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "sink_main_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "cube_3_main_group_1": {
+            "cls": "Box"
+        },
+        "stack_02_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_02_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_02_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_01_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_01_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_01_main_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_03_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_03_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "dishwasher_1_main_group_1": {
+            "cls": "Dishwasher"
+        },
+        "cube_9_main_group_1": {
+            "cls": "Box"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "fridgesidebyside_main_group_1": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridgesidebyside_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "bottom_main_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "oven_cabinet_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_main_group_1": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_5_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_4_left_group_1": {
+            "cls": "Box"
+        },
+        "counter_corner_1_left_group_1": {
+            "cls": "Counter"
+        },
+        "counter_2_left_group_1": {
+            "cls": "Counter"
+        },
+        "stack_04_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_04_left_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_05_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_05_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_05_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_05_left_group_1_3": {
+            "cls": "Drawer"
+        },
+        "cube_10_left_group_1": {
+            "cls": "Box"
+        },
+        "cube_11_left_group_1": {
+            "cls": "Box"
+        },
+        "coffee_machine_left_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "electric_kettle_left_group_1": {
+            "cls": "ElectricKettle"
+        },
+        "paper_towel_left_group_1": {
+            "cls": "Accessory"
+        },
+        "island_1_island_group_1": {
+            "cls": "Counter"
+        },
+        "island_2_island_group_1": {
+            "cls": "Counter"
+        },
+        "island_3_island_group_1": {
+            "cls": "Counter"
+        },
+        "stove_island_group_1": {
+            "cls": "Stove"
+        },
+        "stove_hood_island_group_1": {
+            "cls": "Hood"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_island_group_1": {
+            "cls": "Box"
+        },
+        "stack_07_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_07_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_07_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_06_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_06_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_06_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_09_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_09_island_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_09_island_group_2_2": {
+            "cls": "Drawer"
+        },
+        "stack_08_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_08_island_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_08_island_group_2_2": {
+            "cls": "Drawer"
+        },
+        "stack_10_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_10_island_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_10_island_group_2_2": {
+            "cls": "Drawer"
+        },
+        "stack_11_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_11_island_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_11_island_group_2_2": {
+            "cls": "Drawer"
+        },
+        "cube_5_island_group_2": {
+            "cls": "Box"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Close the lid of the electric kettle.",
+    "fixture_refs": {
+        "electric_kettle": "electric_kettle_left_group_1"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
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+                -0.6,
+                0.0,
+                1.15
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+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
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+                1.05
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
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+                -0.3673907518386841,
+                -0.5905545353889465
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
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+                0,
+                0
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+                0.707107,
+                0
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+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        -1.7846467523698164,
+        -0.8407364599473475,
+        0.0
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+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5706378976484208
+    ]
+}

pretrain/atomic/CloseElectricKettleLid/20250820/lerobot/extras/episode_000053/ep_meta.json

@@ -0,0 +1,361 @@
+{
+    "layout_id": 26,
+    "style_id": 24,
+    "object_cfgs": [],
+    "fixtures": {
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_room": {
+            "cls": "Wall"
+        },
+        "wall_main_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_4_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "window_group_2_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_2_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_4_main_group_4": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "sink_1_front_group": {
+            "cls": "Sink"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "box_front_group": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_front_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_front_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_front_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "electric_kettle_front_group": {
+            "cls": "ElectricKettle"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "box_right_group": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "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"
+        },
+        "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"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        },
+        "paper_towel_right_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "box_1_island_group": {
+            "cls": "Box"
+        },
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+            "cls": "Box"
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+    "gen_textures": {},
+    "lang": "Close the lid of the electric kettle.",
+    "fixture_refs": {
+        "electric_kettle": "electric_kettle_front_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
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+}

pretrain/atomic/CloseElectricKettleLid/20250820/lerobot/extras/episode_000056/ep_meta.json

@@ -0,0 +1,277 @@
+{
+    "layout_id": 34,
+    "style_id": 56,
+    "object_cfgs": [],
+    "fixtures": {
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+            "cls": "Wall"
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+        "wall_main_1_backing_room": {
+            "cls": "Wall"
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+        "wall_left_1_room": {
+            "cls": "Wall"
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+        "wall_left_1_backing_room": {
+            "cls": "Wall"
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+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
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+        "stool_2_room": {
+            "cls": "Stool"
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+        "stool_3_room": {
+            "cls": "Stool"
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+        "stool_4_room": {
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+        "stool_1_room": {
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+        "counter_1_left_group_1": {
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+            "cls": "HingeCabinet"
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+        "hingecabinet_3_left_group_1": {
+            "cls": "HingeCabinet"
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+        "hingecabinet_2_left_group_1": {
+            "cls": "HingeCabinet"
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+        "singlecabinet_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "bottom_left_group_1_base": {
+            "cls": "Box"
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+        "bottom_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "oven_left_group_1": {
+            "cls": "Oven"
+        },
+        "microwave_left_group_1": {
+            "cls": "Microwave"
+        },
+        "fridgefrenchdoor_left_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_left_group_1": {
+            "cls": "HousingCabinet"
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+        "oven_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_1_left_group_1": {
+            "cls": "HingeCabinet"
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+        "microwave_housing_left_group_1": {
+            "cls": "HousingCabinet"
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+        "top_left_group_1": {
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+        "stack_3_left_group_1_2": {
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+        "stack_2_left_group_1_base": {
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+        "toaster_left_group_1": {
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+        "toaster_oven_left_group_1": {
+            "cls": "ToasterOven"
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+        "electric_kettle_left_group_1": {
+            "cls": "ElectricKettle"
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+        "sink_island_group_1": {
+            "cls": "Sink"
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+        "island_island_group_1": {
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+        "stack_1_island_group_1_1": {
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+            "cls": "Box"
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+            "cls": "Dishwasher"
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+        "paper_towel_island_group_1": {
+            "cls": "Accessory"
+        }
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+    "gen_textures": {},
+    "lang": "Close the lid of the electric kettle.",
+    "fixture_refs": {
+        "electric_kettle": "electric_kettle_left_group_1"
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+        3.1412906566438026
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+}

pretrain/atomic/CloseElectricKettleLid/20250820/lerobot/extras/episode_000059/ep_meta.json

@@ -0,0 +1,319 @@
+{
+    "layout_id": 14,
+    "style_id": 27,
+    "object_cfgs": [],
+    "fixtures": {
+        "wall_left_1_room": {
+            "cls": "Wall"
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+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_room": {
+            "cls": "Wall"
+        },
+        "wall_main_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
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+        "stove_main_group_1": {
+            "cls": "Stove"
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+        "counter_2_main_group_1": {
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+            "cls": "Box"
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+        "stack_1_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_1_2": {
+            "cls": "Drawer"
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+        "stack_2_main_group_1_base": {
+            "cls": "Box"
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+        "stack_2_main_group_1_1": {
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+        "stack_4_main_group_1_base": {
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+        "stack_4_main_group_1_1": {
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+        "stack_4_main_group_1_2": {
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+        "cab_1_main_group_1": {
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+        "microwave_main_group_1": {
+            "cls": "Microwave"
+        },
+        "micro_cab_main_group_1": {
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+        "toaster_main_group_1": {
+            "cls": "Toaster"
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+        "electric_kettle_main_group_1": {
+            "cls": "ElectricKettle"
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+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
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+        "paper_towel_main_group_1": {
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+        "counter_1_left_group_1": {
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+        "counter_corner_left_group_1": {
+            "cls": "Counter"
+        },
+        "fridge_left_group_1": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "fridge_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_1.002_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1_1": {
+            "cls": "HingeCabinet"
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+        "stack_1_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_1_base": {
+            "cls": "Box"
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+        "stack_2_left_group_1_1": {
+            "cls": "HingeCabinet"
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+        "stack_2_left_group_1_2": {
+            "cls": "Drawer"
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+        "stack_3_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "box_1_left_group_1": {
+            "cls": "Box"
+        },
+        "cab_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_oven_left_group_1": {
+            "cls": "ToasterOven"
+        },
+        "knife_block_left_group_1": {
+            "cls": "Accessory"
+        },
+        "sink_1_island_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_island_group_1": {
+            "cls": "Counter"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
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+            "cls": "Box"
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+        "panel_stack_1_island_group_1_base": {
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+        "stack_1_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_island_group_1_2": {
+            "cls": "PanelCabinet"
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+        "dishwasher_island_group_1": {
+            "cls": "Dishwasher"
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+        "panel_stack_2_island_group_1_base": {
+            "cls": "Box"
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+        "panel_stack_2_island_group_1_1": {
+            "cls": "PanelCabinet"
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+    "lang": "Close the lid of the electric kettle.",
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+        0.0,
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+        1.5707963267948966
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+}

pretrain/atomic/CloseElectricKettleLid/20250820/lerobot/extras/episode_000060/ep_meta.json

@@ -0,0 +1,505 @@
+{
+    "layout_id": 39,
+    "style_id": 22,
+    "object_cfgs": [],
+    "fixtures": {
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+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_5_room": {
+            "cls": "Wall"
+        },
+        "wall_front_5_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_5_room": {
+            "cls": "Wall"
+        },
+        "wall_right_5_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_4_room": {
+            "cls": "Wall"
+        },
+        "wall_front_4_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_4_room": {
+            "cls": "Wall"
+        },
+        "wall_right_4_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_3_room": {
+            "cls": "Wall"
+        },
+        "wall_front_3_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_2_room": {
+            "cls": "Wall"
+        },
+        "wall_front_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_6_room": {
+            "cls": "Wall"
+        },
+        "wall_front_6_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_7_room": {
+            "cls": "Wall"
+        },
+        "wall_front_7_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_3_room": {
+            "cls": "Floor"
+        },
+        "floor_3_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_5_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_6.001_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "sink_main_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "fridgefrenchdoor_main_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_4_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_3_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_1_main_group_1": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_7_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_7_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_7_main_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_1_main_group_1": {
+            "cls": "Dishwasher"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "knifeblock_main_group_1": {
+            "cls": "Accessory"
+        },
+        "papertowel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "electric_kettle_main_group_1": {
+            "cls": "ElectricKettle"
+        },
+        "stovetop_island_group_1": {
+            "cls": "Stovetop"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_island_group_2.001_base": {
+            "cls": "Box"
+        },
+        "stack_5_island_group_2.001_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_island_group_2.001_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_island_group_2.001_base": {
+            "cls": "Box"
+        },
+        "stack_6_island_group_2.001_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_island_group_2.001_2": {
+            "cls": "Drawer"
+        },
+        "stack_7_island_group_2.001_base": {
+            "cls": "Box"
+        },
+        "stack_7_island_group_2.001_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_7_island_group_2.001_2": {
+            "cls": "Drawer"
+        },
+        "stack_8_island_group_2.001_base": {
+            "cls": "Box"
+        },
+        "stack_8_island_group_2.001_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_8_island_group_2.001_2": {
+            "cls": "Drawer"
+        },
+        "counter_1_front_group_1": {
+            "cls": "Counter"
+        },
+        "hingecabinet_2_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_front_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_front_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_front_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_5_front_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_5_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_front_group_1_3": {
+            "cls": "Drawer"
+        },
+        "bottom_front_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_front_group_1_1": {
+            "cls": "Drawer"
+        },
+        "oven_front_group_1": {
+            "cls": "Oven"
+        },
+        "oven_housing_front_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_front_group_1": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_front_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "coffeemachine_front_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_oven_front_group_1": {
+            "cls": "ToasterOven"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Close the lid of the electric kettle.",
+    "fixture_refs": {
+        "electric_kettle": "electric_kettle_main_group_1"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
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+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
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+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
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+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        1.0211723712951093,
+        -0.7824940822477758,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}

pretrain/atomic/CloseElectricKettleLid/20250820/lerobot/extras/episode_000062/ep_meta.json

@@ -0,0 +1,310 @@
+{
+    "layout_id": 58,
+    "style_id": 22,
+    "object_cfgs": [],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_7_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_03_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_01_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_02_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "window_group_2_room": {
+            "cls": "Window"
+        },
+        "window_group_3_room": {
+            "cls": "Window"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "sink_main_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "hingecabinet_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cube_14_main_group_1": {
+            "cls": "Box"
+        },
+        "stack_04_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_04_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_04_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_03_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_03_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_03_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_02_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_02_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_02_main_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_1_main_group_1": {
+            "cls": "Dishwasher"
+        },
+        "stack_01_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_01_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "cube_15_main_group_1": {
+            "cls": "Box"
+        },
+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "electric_kettle_main_group_1": {
+            "cls": "ElectricKettle"
+        },
+        "bottom_left_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "microwave_left_group_1": {
+            "cls": "Microwave"
+        },
+        "fridgefrenchdoor_left_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "oven_cabinet_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_1_island_group_1": {
+            "cls": "Counter"
+        },
+        "island_2_island_group_1": {
+            "cls": "Counter"
+        },
+        "island_3_island_group_1": {
+            "cls": "Counter"
+        },
+        "stove_island_group_1": {
+            "cls": "Stove"
+        },
+        "stove_hood_island_group_1": {
+            "cls": "Hood"
+        },
+        "stack_06_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_06_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_06_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_07_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_07_island_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_07_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_07_island_group_1_3": {
+            "cls": "Drawer"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_island_group_1": {
+            "cls": "Box"
+        },
+        "stack_08_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_08_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_16_island_group_1": {
+            "cls": "Box"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Close the lid of the electric kettle.",
+    "fixture_refs": {
+        "electric_kettle": "electric_kettle_main_group_1"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
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+                -0.6,
+                0.0,
+                1.15
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+            "quat": [
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+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
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+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
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+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
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+                -0.35,
+                1.05
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+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.16965010873396,
+        -0.7734989638787322,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}

pretrain/atomic/CloseElectricKettleLid/20250820/lerobot/extras/episode_000063/ep_meta.json

@@ -0,0 +1,277 @@
+{
+    "layout_id": 34,
+    "style_id": 29,
+    "object_cfgs": [],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stool_4_room": {
+            "cls": "Stool"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stovetop_left_group_1": {
+            "cls": "Stovetop"
+        },
+        "counter_1_left_group_1": {
+            "cls": "Counter"
+        },
+        "hingecabinet_4_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "bottom_left_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "oven_left_group_1": {
+            "cls": "Oven"
+        },
+        "microwave_left_group_1": {
+            "cls": "Microwave"
+        },
+        "fridgefrenchdoor_left_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "oven_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_1_3": {
+            "cls": "PanelCabinet"
+        },
+        "stack_2_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "coffee_machine_left_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_left_group_1": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_left_group_1": {
+            "cls": "ToasterOven"
+        },
+        "electric_kettle_left_group_1": {
+            "cls": "ElectricKettle"
+        },
+        "sink_island_group_1": {
+            "cls": "Sink"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_3_island_group_1": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_4_island_group_1": {
+            "cls": "Box"
+        },
+        "dishwasher_1_island_group_1": {
+            "cls": "Dishwasher"
+        },
+        "paper_towel_island_group_1": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Close the lid of the electric kettle.",
+    "fixture_refs": {
+        "electric_kettle": "electric_kettle_left_group_1"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
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+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        0.7835389654864076,
+        -3.1596286066642936,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1412906566438026
+    ]
+}

pretrain/atomic/CloseElectricKettleLid/20250820/lerobot/extras/episode_000064/ep_meta.json

@@ -0,0 +1,325 @@
+{
+    "layout_id": 11,
+    "style_id": 24,
+    "object_cfgs": [],
+    "fixtures": {
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_room": {
+            "cls": "Wall"
+        },
+        "wall_main_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_3_room": {
+            "cls": "Wall"
+        },
+        "wall_left_3_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stove_1_main_group": {
+            "cls": "Stove"
+        },
+        "counter_2_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "counter_stack_main_group_base": {
+            "cls": "Box"
+        },
+        "counter_stack_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "counter_stack_main_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "counter_stack_main_group_3": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "electric_kettle_main_group": {
+            "cls": "ElectricKettle"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_left_group": {
+            "cls": "Counter"
+        },
+        "panel_cab_left_group_base": {
+            "cls": "Box"
+        },
+        "panel_cab_left_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "box_left_group": {
+            "cls": "Box"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_left_group": {
+            "cls": "Accessory"
+        },
+        "box_right_group": {
+            "cls": "Box"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "dining_dining_group": {
+            "cls": "Counter"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Close the lid of the electric kettle.",
+    "fixture_refs": {
+        "electric_kettle": "electric_kettle_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
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+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        1.0542971172940434,
+        -0.8042477458942197,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}

pretrain/atomic/CloseElectricKettleLid/20250820/lerobot/extras/episode_000066/ep_meta.json

@@ -0,0 +1,364 @@
+{
+    "layout_id": 46,
+    "style_id": 22,
+    "object_cfgs": [],
+    "fixtures": {
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_06_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_01_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_03_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_04_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stool_4_room": {
+            "cls": "Stool"
+        },
+        "stool_5_room": {
+            "cls": "Stool"
+        },
+        "stool_6_room": {
+            "cls": "Stool"
+        },
+        "dining_dining_area_group": {
+            "cls": "Counter"
+        },
+        "cube_1_dining_area_group": {
+            "cls": "Box"
+        },
+        "cube_2_dining_area_group": {
+            "cls": "Box"
+        },
+        "fridgefrenchdoor_main_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "bottom_main_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "microwave_main_group_1": {
+            "cls": "Microwave"
+        },
+        "hingecabinet_02_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "oven_cabinet_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_01_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "counter_2_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "stove_main_group_1": {
+            "cls": "Stove"
+        },
+        "stove_hood_main_group_1": {
+            "cls": "Hood"
+        },
+        "stack_01_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_01_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_01_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_01_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_02_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_02_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_02_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_02_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_03_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_03_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_03_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group_1": {
+            "cls": "ToasterOven"
+        },
+        "electric_kettle_main_group_1": {
+            "cls": "ElectricKettle"
+        },
+        "sink_front_group_1": {
+            "cls": "Sink"
+        },
+        "counter_2_front_group_1": {
+            "cls": "Counter"
+        },
+        "stack_05_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_05_front_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_05_front_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_08_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_08_front_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_08_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_06_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_06_front_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_04_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_04_front_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_04_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "dishwasher_1_front_group_1": {
+            "cls": "Dishwasher"
+        },
+        "stack_12_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_12_front_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_12_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "plant_front_group_1": {
+            "cls": "Accessory"
+        },
+        "paper_towel_front_group_1": {
+            "cls": "Accessory"
+        },
+        "cube_1_front_group_2": {
+            "cls": "Box"
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+        "stack_11_front_group_2_base": {
+            "cls": "Box"
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+        "stack_11_front_group_2_1": {
+            "cls": "HingeCabinet"
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+        "stack_10_front_group_2_base": {
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+        "stack_10_front_group_2_1": {
+            "cls": "HingeCabinet"
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+        "stack_09_front_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_09_front_group_2_1": {
+            "cls": "HingeCabinet"
+        },
+        "cube_2_front_group_2": {
+            "cls": "Box"
+        },
+        "stack_13_front_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_13_front_group_2_1": {
+            "cls": "SingleCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Close the lid of the electric kettle.",
+    "fixture_refs": {
+        "electric_kettle": "electric_kettle_main_group_1"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
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+                -0.6,
+                0.0,
+                1.15
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+        },
+        "robot0_agentview_left": {
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+                0.35,
+                1.05
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+                -0.6775092
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+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
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+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
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+                0,
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+            "camera_attribs": {
+                "fovy": "60"
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+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
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+                0,
+                0
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+            "quat": [
+                0,
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+                0.707107,
+                0
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+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        5.645722701118912,
+        -0.9551834666784235,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5706378976484208
+    ]
+}

pretrain/atomic/CloseElectricKettleLid/20250820/lerobot/extras/episode_000069/ep_meta.json

@@ -0,0 +1,397 @@
+{
+    "layout_id": 43,
+    "style_id": 58,
+    "object_cfgs": [],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
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+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_1.001_room": {
+            "cls": "Floor"
+        },
+        "floor_1.001_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory.001_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.005_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.003_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.004_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.002_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.006_room": {
+            "cls": "WallAccessory"
+        },
+        "counter_corner_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
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+        "counter_2_main_group_1": {
+            "cls": "Counter"
+        },
+        "stove_main_group_1": {
+            "cls": "Stove"
+        },
+        "counter_corner_2_main_group_1": {
+            "cls": "Counter"
+        },
+        "stove_hood_main_group_1": {
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+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
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+        "cube_1_main_group_1": {
+            "cls": "Box"
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+        "hingecabinet_2_main_group_1": {
+            "cls": "HingeCabinet"
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+        "cube_2_main_group_1": {
+            "cls": "Box"
+        },
+        "coffeemachine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
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+        "papertowel_main_group_1": {
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+        "plant_main_group_1": {
+            "cls": "Accessory"
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+        "electric_kettle_main_group_1": {
+            "cls": "ElectricKettle"
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+        "stack_3_main_group_1_1": {
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+        "cube_4_main_group_1": {
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+        "counter_1_front_group_1": {
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+        "stack_1_front_group_1_1": {
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+        "stack_2_front_group_1_1": {
+            "cls": "SingleCabinet"
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+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "singlecabinet_1_right_group_1": {
+            "cls": "SingleCabinet"
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+        "hingecabinet_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "opencabinet_1_right_group_1": {
+            "cls": "OpenCabinet"
+        },
+        "cube_1_right_group_1": {
+            "cls": "Box"
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+        "stack_1_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_1_3": {
+            "cls": "Drawer"
+        },
+        "fridgesidebyside_right_group_1": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridgesidebyside_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "bottom_right_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "microwave_right_group_1": {
+            "cls": "Microwave"
+        },
+        "singlecabinet_3_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "oven_cabinet_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "singlecabinet_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "top_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_oven_right_group_1": {
+            "cls": "ToasterOven"
+        },
+        "sink_left_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_1_left_group_1": {
+            "cls": "Counter"
+        },
+        "counter_2_left_group_1": {
+            "cls": "Counter"
+        },
+        "singlecabinet_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "hingecabinet_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_1_left_group_1": {
+            "cls": "Dishwasher"
+        },
+        "cube_3_left_group_1": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_1_3": {
+            "cls": "Drawer"
+        },
+        "cube_2_left_group_1": {
+            "cls": "Box"
+        },
+        "cube_1_left_group_1": {
+            "cls": "Box"
+        },
+        "knife_block_left_group_1": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Close the lid of the electric kettle.",
+    "fixture_refs": {
+        "electric_kettle": "electric_kettle_main_group_1"
+    },
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+                0.0,
+                1.15
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+        },
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+                0.35,
+                1.05
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+            "parent_body": "mobilebase0_support"
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+            "parent_body": "mobilebase0_support"
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+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
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+                0,
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+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.1471383568678823,
+        -0.8309263888303029,
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+    "init_robot_base_ori": [
+        0.0,
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+        1.5707963267948966
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+}

pretrain/atomic/CloseElectricKettleLid/20250820/lerobot/extras/episode_000071/ep_meta.json

@@ -0,0 +1,319 @@
+{
+    "layout_id": 14,
+    "style_id": 38,
+    "object_cfgs": [],
+    "fixtures": {
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_room": {
+            "cls": "Wall"
+        },
+        "wall_main_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "stove_main_group_1": {
+            "cls": "Stove"
+        },
+        "counter_2_main_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_main_group_1_2": {
+            "cls": "Drawer"
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+        "stack_3_main_group_1_base": {
+            "cls": "Box"
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+        "stack_3_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "box_1_main_group_1": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1_1": {
+            "cls": "HingeCabinet"
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+        "stack_4_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "cab_1_main_group_1": {
+            "cls": "HingeCabinet"
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+        "microwave_main_group_1": {
+            "cls": "Microwave"
+        },
+        "micro_cab_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "electric_kettle_main_group_1": {
+            "cls": "ElectricKettle"
+        },
+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group_1": {
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+        },
+        "counter_corner_left_group_1": {
+            "cls": "Counter"
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+        "fridge_left_group_1": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "fridge_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_1.002_left_group_1": {
+            "cls": "HingeCabinet"
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+        "stack_1_left_group_1_1": {
+            "cls": "HingeCabinet"
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+        "stack_2_left_group_1_1": {
+            "cls": "HingeCabinet"
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+            "cls": "Drawer"
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+        "stack_3_left_group_1_base": {
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+        },
+        "stack_3_left_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "box_1_left_group_1": {
+            "cls": "Box"
+        },
+        "cab_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_oven_left_group_1": {
+            "cls": "ToasterOven"
+        },
+        "knife_block_left_group_1": {
+            "cls": "Accessory"
+        },
+        "sink_1_island_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_island_group_1": {
+            "cls": "Counter"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "box_island_group_1": {
+            "cls": "Box"
+        },
+        "panel_stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "panel_stack_1_island_group_1_1": {
+            "cls": "PanelCabinet"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_island_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group_1": {
+            "cls": "Dishwasher"
+        },
+        "panel_stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "panel_stack_2_island_group_1_1": {
+            "cls": "PanelCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Close the lid of the electric kettle.",
+    "fixture_refs": {
+        "electric_kettle": "electric_kettle_main_group_1"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
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+                -0.6175596117973328
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+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
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+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
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+            "quat": [
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+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        1.68382229236621,
+        -0.7475802368173271,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}

pretrain/atomic/CloseElectricKettleLid/20250820/lerobot/extras/episode_000072/ep_meta.json

@@ -0,0 +1,346 @@
+{
+    "layout_id": 48,
+    "style_id": 36,
+    "object_cfgs": [],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "lightswitch_5_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_6_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_1_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_3_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stool_4_room": {
+            "cls": "Stool"
+        },
+        "fridgefrenchdoor_right_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "bottom_right_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "microwave_right_group_1": {
+            "cls": "Microwave"
+        },
+        "oven_cabinet_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_5_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_4_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_3_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "opencabinet_right_group_1": {
+            "cls": "OpenCabinet"
+        },
+        "sink_right_group_1": {
+            "cls": "Sink"
+        },
+        "counter_3_right_group_1": {
+            "cls": "Counter"
+        },
+        "stack_04_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_04_right_group_1_1": {
+            "cls": "SingleCabinet"
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+        "stack_04_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_06_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_06_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_06_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_06_right_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_03_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_03_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_03_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_05_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_05_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_05_right_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "cube_2_right_group_1": {
+            "cls": "Box"
+        },
+        "cube_1_right_group_1": {
+            "cls": "Box"
+        },
+        "dishwasher_1_right_group_1": {
+            "cls": "Dishwasher"
+        },
+        "coffee_machine_right_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "electric_kettle_right_group_1": {
+            "cls": "ElectricKettle"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "widestove_main_group_1": {
+            "cls": "Stove"
+        },
+        "stove_hood_main_group_1": {
+            "cls": "Hood"
+        },
+        "counter_2_main_group_1": {
+            "cls": "Counter"
+        },
+        "stack_02_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_02_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_01_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_01_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_4_main_group_1": {
+            "cls": "Box"
+        },
+        "papertowel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group_1": {
+            "cls": "ToasterOven"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_3_island_group_1": {
+            "cls": "Box"
+        },
+        "stack_09_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_09_island_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_09_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_09_island_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_08_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_08_island_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_08_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_08_island_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_07_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_07_island_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_07_island_group_1_2": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Close the lid of the electric kettle.",
+    "fixture_refs": {
+        "electric_kettle": "electric_kettle_right_group_1"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
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+                -0.6,
+                0.0,
+                1.15
+            ],
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+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
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+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
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+                0,
+                0.95
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+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
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+                0,
+                0
+            ],
+            "quat": [
+                0,
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+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.726480224388342,
+        -1.510393189983664,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -0.00014782238328514552
+    ]
+}

pretrain/atomic/CloseElectricKettleLid/20250820/lerobot/extras/episode_000073/ep_meta.json

@@ -0,0 +1,370 @@
+{
+    "layout_id": 51,
+    "style_id": 26,
+    "object_cfgs": [],
+    "fixtures": {
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_01_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_02_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_03_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_04_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_05_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_06_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_07_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "window_group_2_room": {
+            "cls": "Window"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "hingecabinet_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_2_main_group_1": {
+            "cls": "Box"
+        },
+        "hingecabinet_6_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "sink_main_group_1": {
+            "cls": "Sink"
+        },
+        "counter_2_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_3_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "stove_main_group_1": {
+            "cls": "Stove"
+        },
+        "microwave_main_group_1": {
+            "cls": "Microwave"
+        },
+        "micro_cab_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_01_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_01_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_02_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_02_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_02_main_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_03_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_03_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_03_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_04_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_04_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_04_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_05_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_05_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_05_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_06_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_06_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_06_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_06_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "cube_1_main_group_1": {
+            "cls": "Box"
+        },
+        "dishwasher_1_main_group_1": {
+            "cls": "Dishwasher"
+        },
+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "papertowel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "plant_main_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "electric_kettle_main_group_1": {
+            "cls": "ElectricKettle"
+        },
+        "fridgefrenchdoor_main_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_3_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "counter_4_right_group_1": {
+            "cls": "Counter"
+        },
+        "counter_5_right_group_1": {
+            "cls": "Counter"
+        },
+        "stack_07_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_07_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_08_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_08_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_08_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_1_right_group_1": {
+            "cls": "Box"
+        },
+        "toaster_oven_right_group_1": {
+            "cls": "ToasterOven"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "stack_09_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_09_island_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_09_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_09_island_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_11_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_11_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_11_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_10_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_10_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_10_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Close the lid of the electric kettle.",
+    "fixture_refs": {
+        "electric_kettle": "electric_kettle_main_group_1"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
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+            "quat": [
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+                -0.6175596117973328
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+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
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+                0.29935253,
+                -0.37678665,
+                -0.6775092
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
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+                1.05
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+            "camera_attribs": {
+                "fovy": "60"
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+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
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+            "quat": [
+                0.6088936924934387,
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+                -0.3673907518386841,
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        7.117841028043881,
+        -0.7971439155796768,
+        0.0
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+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.57064844767067
+    ]
+}

pretrain/atomic/CloseElectricKettleLid/20250820/lerobot/extras/episode_000074/ep_meta.json

@@ -0,0 +1,373 @@
+{
+    "layout_id": 16,
+    "style_id": 12,
+    "object_cfgs": [],
+    "fixtures": {
+        "wall_left_3_room": {
+            "cls": "Wall"
+        },
+        "wall_left_3_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_room": {
+            "cls": "Wall"
+        },
+        "wall_main_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_4_room": {
+            "cls": "Wall"
+        },
+        "wall_left_4_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_5_room": {
+            "cls": "Wall"
+        },
+        "wall_left_5_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_4_room": {
+            "cls": "Wall"
+        },
+        "wall_right_4_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_1_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "stove_main_group_1": {
+            "cls": "Stove"
+        },
+        "counter_corner_main_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "fridge_1_main_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_1_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_main_group_1": {
+            "cls": "Box"
+        },
+        "microwave_main_group_1": {
+            "cls": "Microwave"
+        },
+        "cab_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "paper_towel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "sink_1_right_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "box_1_right_group_1": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_right_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_4_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_right_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_5_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_right_group_1_3": {
+            "cls": "Drawer"
+        },
+        "dishwasher_right_group_1": {
+            "cls": "Dishwasher"
+        },
+        "panel_stack_right_group_1_base": {
+            "cls": "Box"
+        },
+        "panel_stack_right_group_1_1": {
+            "cls": "PanelCabinet"
+        },
+        "cab_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "electric_kettle_right_group_1": {
+            "cls": "ElectricKettle"
+        },
+        "toaster_oven_right_group_1": {
+            "cls": "ToasterOven"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_2": {
+            "cls": "Drawer"
+        },
+        "box_1_island_group": {
+            "cls": "Box"
+        },
+        "box_2_island_group": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_2": {
+            "cls": "Drawer"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Close the lid of the electric kettle.",
+    "fixture_refs": {
+        "electric_kettle": "electric_kettle_right_group_1"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
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+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
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+                0.29935253,
+                -0.37678665,
+                -0.6775092
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
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+            "parent_body": "mobilebase0_support"
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+                0.3814677894115448,
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+                -0.5905545353889465
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
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+                0,
+                0
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+            "quat": [
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+                0.707107,
+                0
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+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.2317741321729963,
+        -4.482454430875725,
+        0.0
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+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.422854288892552e-08
+    ]
+}

pretrain/atomic/CloseElectricKettleLid/20250820/lerobot/extras/episode_000075/ep_meta.json

@@ -0,0 +1,367 @@
+{
+    "layout_id": 13,
+    "style_id": 50,
+    "object_cfgs": [],
+    "fixtures": {
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_room": {
+            "cls": "Wall"
+        },
+        "wall_main_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_5_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_6_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "sink_1_main_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "box_1_main_group_1": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_1_main_group_1": {
+            "cls": "Dishwasher"
+        },
+        "box_2_main_group_1": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cab_corner_main_group_1": {
+            "cls": "Box"
+        },
+        "cab_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group_1": {
+            "cls": "OpenCabinet"
+        },
+        "plant_main_group_1": {
+            "cls": "Accessory"
+        },
+        "electric_kettle_main_group_1": {
+            "cls": "ElectricKettle"
+        },
+        "paper_towel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "counter_1_left_group_1": {
+            "cls": "Counter"
+        },
+        "stove_left_group_1": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1_1": {
+            "cls": "PanelCabinet"
+        },
+        "stack_2_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "box_left_group_1": {
+            "cls": "Box"
+        },
+        "hood_left_group_1": {
+            "cls": "Hood"
+        },
+        "cab_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_left_group_1": {
+            "cls": "OpenCabinet"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "box_right_group_1": {
+            "cls": "Box"
+        },
+        "microwave_right_group_1": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_1_right_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_1_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_right_group_1": {
+            "cls": "ToasterOven"
+        },
+        "dining_front_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group_1": {
+            "cls": "Counter"
+        },
+        "cube_front_group_1": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_front_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_front_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_front_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_front_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_front_group_1_3": {
+            "cls": "Drawer"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Close the lid of the electric kettle.",
+    "fixture_refs": {
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+}

pretrain/atomic/CloseElectricKettleLid/20250820/lerobot/extras/episode_000076/ep_meta.json

@@ -0,0 +1,280 @@
+{
+    "layout_id": 37,
+    "style_id": 24,
+    "object_cfgs": [],
+    "fixtures": {
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+            "cls": "Wall"
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+        "wall_main_1_backing_room": {
+            "cls": "Wall"
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+        "wall_left_1_room": {
+            "cls": "Wall"
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+        "wall_left_1_backing_room": {
+            "cls": "Wall"
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+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
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+        "wall_main_3_room": {
+            "cls": "Wall"
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+        "wall_main_3_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
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+        "stool_2_room": {
+            "cls": "Stool"
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+        "stool_3_room": {
+            "cls": "Stool"
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+        "stovetop_left_group_1": {
+            "cls": "Stovetop"
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+        "counter_1_left_group_1": {
+            "cls": "Counter"
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+        "hingecabinet_2_left_group_1": {
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+        "hingecabinet_1_left_group_1": {
+            "cls": "HingeCabinet"
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+        "microwave_left_group_1": {
+            "cls": "Microwave"
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+        "cab_micro_left_group_1": {
+            "cls": "HingeCabinet"
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+        "cube_1_left_group_1": {
+            "cls": "Box"
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+        "fridgefrenchdoor_left_group_1": {
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+        "fridgefrenchdoor_housing_left_group_1": {
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+        "bottom_left_group_1_base": {
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+        "bottom_left_group_1_1": {
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+        "oven_housing_left_group_1": {
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+        "microwave_cabinet_left_group_1": {
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+        "coffee_machine_left_group_1": {
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+        "toaster_left_group_1": {
+            "cls": "Toaster"
+        },
+        "electric_kettle_left_group_1": {
+            "cls": "ElectricKettle"
+        },
+        "sink_island_group_1": {
+            "cls": "Sink"
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+        "island_island_group_1": {
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+            "cls": "HingeCabinet"
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+            "cls": "PanelCabinet"
+        },
+        "dishwasher_1_island_group_1": {
+            "cls": "Dishwasher"
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+    },
+    "gen_textures": {},
+    "lang": "Close the lid of the electric kettle.",
+    "fixture_refs": {
+        "electric_kettle": "electric_kettle_left_group_1"
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+        "robot0_eye_in_hand": {
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+}

pretrain/atomic/CloseElectricKettleLid/20250820/lerobot/extras/episode_000078/ep_meta.json

@@ -0,0 +1,367 @@
+{
+    "layout_id": 13,
+    "style_id": 21,
+    "object_cfgs": [],
+    "fixtures": {
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+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_room": {
+            "cls": "Wall"
+        },
+        "wall_main_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_5_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_6_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
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+        "stool_1_room": {
+            "cls": "Stool"
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+        "stool_2_room": {
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+        "counter_corner_1_main_group_1": {
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+        "sink_1_main_group_1": {
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+            "cls": "Counter"
+        },
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+        "stack_1_main_group_1_base": {
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+        },
+        "stack_1_main_group_1_1": {
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+        },
+        "box_1_main_group_1": {
+            "cls": "Box"
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+        },
+        "stack_2_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_1_main_group_1": {
+            "cls": "Dishwasher"
+        },
+        "box_2_main_group_1": {
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+        "stack_3_main_group_1_base": {
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+        },
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+        "stack_3_main_group_1_2": {
+            "cls": "Drawer"
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+        "stack_4_main_group_1_base": {
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+        "cab_2_main_group_1": {
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+        "electric_kettle_main_group_1": {
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+        "paper_towel_main_group_1": {
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+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
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+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "counter_1_left_group_1": {
+            "cls": "Counter"
+        },
+        "stove_left_group_1": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group_1": {
+            "cls": "Counter"
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+        "stack_1_left_group_1_base": {
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+        "stack_1_left_group_1_1": {
+            "cls": "PanelCabinet"
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+        "stack_2_left_group_1_base": {
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+        "stack_2_left_group_1_1": {
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+        },
+        "box_left_group_1": {
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+        "hood_left_group_1": {
+            "cls": "Hood"
+        },
+        "cab_1_left_group_1": {
+            "cls": "SingleCabinet"
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+        "cab_2_left_group_1": {
+            "cls": "HingeCabinet"
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+        "cab_3_left_group_1": {
+            "cls": "OpenCabinet"
+        },
+        "counter_1_right_group_1": {
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+        "stack_1_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "box_right_group_1": {
+            "cls": "Box"
+        },
+        "microwave_right_group_1": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_1_right_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_1_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_right_group_1": {
+            "cls": "HingeCabinet"
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+        "cab_2_right_group_1": {
+            "cls": "SingleCabinet"
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+        "toaster_oven_right_group_1": {
+            "cls": "ToasterOven"
+        },
+        "dining_front_group_1": {
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+        "counter_corner_front_group_1": {
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+        "cube_front_group_1": {
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+        "stack_1_front_group_1_1": {
+            "cls": "SingleCabinet"
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+        "stack_2_front_group_1_base": {
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+        "stack_2_front_group_1_1": {
+            "cls": "SingleCabinet"
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+        "stack_2_front_group_1_2": {
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+        "robot0_eye_in_hand": {
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+        1.5707963267948966
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+}

pretrain/atomic/CloseElectricKettleLid/20250820/lerobot/extras/episode_000079/ep_meta.json

@@ -0,0 +1,442 @@
+{
+    "layout_id": 29,
+    "style_id": 24,
+    "object_cfgs": [],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_4_room": {
+            "cls": "Wall"
+        },
+        "wall_left_4_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_3_room": {
+            "cls": "Wall"
+        },
+        "wall_left_3_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "light_switch_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stool_4_room": {
+            "cls": "Stool"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "middle_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "dishwasher_main_group": {
+            "cls": "Dishwasher"
+        },
+        "panel_stack_main_group_base": {
+            "cls": "Box"
+        },
+        "panel_stack_main_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_4_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_5_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_6_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "stovetop_left_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "PanelCabinet"
+        },
+        "stack_4_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_5_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_left_group_3": {
+            "cls": "Drawer"
+        },
+        "hood_left_group": {
+            "cls": "Hood"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_4_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_left_group": {
+            "cls": "Toaster"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "panel_box_1_island_group_base": {
+            "cls": "Box"
+        },
+        "panel_box_1_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_island_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_island_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_5_island_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_island_group_3": {
+            "cls": "Drawer"
+        },
+        "panel_cab_2_island_group_base": {
+            "cls": "Box"
+        },
+        "panel_cab_2_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "box_island_group": {
+            "cls": "Box"
+        },
+        "electric_kettle_island_group": {
+            "cls": "ElectricKettle"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Close the lid of the electric kettle.",
+    "fixture_refs": {
+        "electric_kettle": "electric_kettle_island_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
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+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
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+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
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+            "quat": [
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+                0.29935253,
+                -0.37678665,
+                -0.6775092
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+            "camera_attribs": {
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+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
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+                -0.5,
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+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
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+                -0.5,
+                0,
+                0.95
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+                0.3814677894115448,
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+                -0.5905545353889465
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        1.1929671175396146,
+        -5.06618745122263,
+        0.0
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+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.4228548662085245e-08
+    ]
+}

pretrain/atomic/CloseElectricKettleLid/20250820/lerobot/extras/episode_000080/ep_meta.json

@@ -0,0 +1,358 @@
+{
+    "layout_id": 42,
+    "style_id": 57,
+    "object_cfgs": [],
+    "fixtures": {
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_4_room": {
+            "cls": "Wall"
+        },
+        "wall_main_4_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.002_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_4_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "cube_1_main_group_1": {
+            "cls": "Box"
+        },
+        "fridgefrenchdoor_main_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "coffeemachine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "papertowel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "stovetop_right_group_1": {
+            "cls": "Stovetop"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "hingecabinet_3_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_4_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_1_3": {
+            "cls": "PanelCabinet"
+        },
+        "stack_4_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_1_right_group_1": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "oven_right_group_1": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_right_group_1": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "electric_kettle_right_group_1": {
+            "cls": "ElectricKettle"
+        },
+        "counter_1_left_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "knifeblock_left_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_left_group_1": {
+            "cls": "ToasterOven"
+        },
+        "plant_left_group_1": {
+            "cls": "Accessory"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_3_island_group_1": {
+            "cls": "Box"
+        },
+        "sink_island_group_1": {
+            "cls": "Sink"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_1_island_group_1": {
+            "cls": "Dishwasher"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Close the lid of the electric kettle.",
+    "fixture_refs": {
+        "electric_kettle": "electric_kettle_right_group_1"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
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+        "robot0_agentview_left": {
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+        0.0,
+        0.0,
+        0.00030199704781619374
+    ]
+}

pretrain/atomic/CloseElectricKettleLid/20250820/lerobot/extras/episode_000083/ep_meta.json

@@ -0,0 +1,526 @@
+{
+    "layout_id": 25,
+    "style_id": 16,
+    "object_cfgs": [],
+    "fixtures": {
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_room": {
+            "cls": "Wall"
+        },
+        "wall_main_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_3_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_5_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_6_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_7_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "window_group_2_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_2_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "box_1_main_group": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "box_2_main_group": {
+            "cls": "Box"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "cab_corner_1_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_above_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_above_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_3_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_above_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_4_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_4_above_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_1_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "box_left_group": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_4_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_5_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_6_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "paper_towel_left_group": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "electric_kettle_left_group": {
+            "cls": "ElectricKettle"
+        },
+        "corner_counter_right_group": {
+            "cls": "Counter"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "box_right_group": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "middle_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "counter_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_right_group_4": {
+            "cls": "Drawer"
+        },
+        "plant_right_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_island_group_2_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_island_group_2_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_island_group_2_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_4_island_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_island_group_2_2": {
+            "cls": "Drawer"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Close the lid of the electric kettle.",
+    "fixture_refs": {
+        "electric_kettle": "electric_kettle_left_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        0.8241010536694477,
+        -1.3955352961121892,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415926193612504
+    ]
+}

pretrain/atomic/CloseElectricKettleLid/20250820/lerobot/extras/episode_000084/ep_meta.json

@@ -0,0 +1,319 @@
+{
+    "layout_id": 59,
+    "style_id": 32,
+    "object_cfgs": [],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_01_room": {
+            "cls": "Wall"
+        },
+        "wall_left_01_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_02_room": {
+            "cls": "Wall"
+        },
+        "wall_left_02_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_03_room": {
+            "cls": "Wall"
+        },
+        "wall_left_03_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_04_room": {
+            "cls": "Wall"
+        },
+        "wall_left_04_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_01_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_02_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_03_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_04_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "window_group_2_room": {
+            "cls": "Window"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "fridgefrenchdoor_left_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "bottom_left_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "microwave_left_group_1": {
+            "cls": "Microwave"
+        },
+        "oven_cabinet_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_island_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "cube_3_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_4_island_group_1": {
+            "cls": "Box"
+        },
+        "dishwasher_1_island_group_1": {
+            "cls": "Dishwasher"
+        },
+        "sink_island_group_1": {
+            "cls": "Sink"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "electric_kettle_island_group_1": {
+            "cls": "ElectricKettle"
+        },
+        "stack_01_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_01_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_01_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_02_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_02_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_02_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_03_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_03_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_03_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_04_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_04_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_04_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "counter_2_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_3_main_group_1": {
+            "cls": "Counter"
+        },
+        "widestove_main_group_1": {
+            "cls": "Stove"
+        },
+        "widestove_hood_main_group_1": {
+            "cls": "Hood"
+        },
+        "singlecabinet_03_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_02_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_01_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_04_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "paper_towel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group_1": {
+            "cls": "ToasterOven"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Close the lid of the electric kettle.",
+    "fixture_refs": {
+        "electric_kettle": "electric_kettle_island_group_1"
+    },
+    "cam_configs": {
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+}

pretrain/atomic/CloseElectricKettleLid/20250820/lerobot/extras/episode_000086/ep_meta.json

@@ -0,0 +1,259 @@
+{
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+    "style_id": 15,
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+        "wall_main_1_backing_room": {
+            "cls": "Wall"
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+        "wall_right_1_backing_room": {
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+        "wall_main_2_room": {
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+        "wall_main_2_backing_room": {
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+        "floor_1_backing_room": {
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+        "floor_2_room": {
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+        "floor_2_backing_room": {
+            "cls": "Floor"
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+        "wallaccessory.002_room": {
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+        "wallaccessory.001_room": {
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+            "cls": "WallAccessory"
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+        "counter_corner_1_main_group_1": {
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+}

pretrain/atomic/CloseElectricKettleLid/20250820/lerobot/extras/episode_000087/ep_meta.json

@@ -0,0 +1,442 @@
+{
+    "layout_id": 12,
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+        "wall_accessory_4_room": {
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+        "electric_kettle_main_group": {
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+    "init_robot_base_pos": [
+        1.8103051915823691,
+        -0.8372181549514329,
+        0.0
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+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
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+}

pretrain/atomic/CloseElectricKettleLid/20250820/lerobot/extras/episode_000090/ep_meta.json

@@ -0,0 +1,301 @@
+{
+    "layout_id": 44,
+    "style_id": 19,
+    "object_cfgs": [],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory.001_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.005_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.003_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.004_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.002_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "window_group_2_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "sink_main_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "singlecabinet_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_main_group_1": {
+            "cls": "Box"
+        },
+        "singlecabinet_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "cube_1_main_group_1": {
+            "cls": "Box"
+        },
+        "dishwasher_1_main_group_1": {
+            "cls": "Dishwasher"
+        },
+        "fridgesidebyside_main_group_1": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridgesidebyside_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "electric_kettle_main_group_1": {
+            "cls": "ElectricKettle"
+        },
+        "papertowel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group_1": {
+            "cls": "Counter"
+        },
+        "stove_left_group_1": {
+            "cls": "Stove"
+        },
+        "microwave_left_group_1": {
+            "cls": "Microwave"
+        },
+        "micro_cab_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "counter_2_left_group_1": {
+            "cls": "Counter"
+        },
+        "singlecabinet_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "hingecabinet_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cube_3_left_group_1": {
+            "cls": "Box"
+        },
+        "cube_4_left_group_1": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_1_left_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_left_group_1": {
+            "cls": "Box"
+        },
+        "coffee_machine_left_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "cube_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_3_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_4_island_group_1": {
+            "cls": "Box"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Close the lid of the electric kettle.",
+    "fixture_refs": {
+        "electric_kettle": "electric_kettle_main_group_1"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
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+            "quat": [
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+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
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+                0.35,
+                1.05
+            ],
+            "quat": [
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+                0.29935253,
+                -0.37678665,
+                -0.6775092
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+            "camera_attribs": {
+                "fovy": "60"
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+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
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+                -0.35,
+                1.05
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+            "quat": [
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+                0.3767866790294647,
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
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+        "robot0_frontview": {
+            "pos": [
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+                0,
+                0.95
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+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
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+            "camera_attribs": {
+                "fovy": "60"
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+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.8802623806337704,
+        -0.7994206677092152,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
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+}