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pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000002/ep_meta.json

@@ -0,0 +1,472 @@
+{
+    "layout_id": 54,
+    "style_id": 42,
+    "object_cfgs": [
+        {
+            "name": "pan",
+            "obj_groups": "pan",
+            "placement": {
+                "fixture": "stove_main_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "front_right"
+                    ]
+                },
+                "size": [
+                    0.05,
+                    0.05
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pan",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "pan"
+                ],
+                "cat": "pan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/pan/pan_3/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.14749302765904157,
+                    -0.08274024767106936,
+                    0.46965236862466925
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "front_right"
+            }
+        },
+        {
+            "name": "butter_container",
+            "obj_groups": "plate",
+            "placement": {
+                "fixture": "counter_1_main_group_1",
+                "size": [
+                    0.35,
+                    0.35
+                ],
+                "sample_region_kwargs": {
+                    "ref": "stove_main_group_1",
+                    "loc": "left_right",
+                    "min_size": [
+                        0.23290678950000007,
+                        0.23449999650000009,
+                        0.013999999860000004
+                    ]
+                },
+                "pos": [
+                    "ref",
+                    -1.0
+                ],
+                "try_to_place_in": "plate"
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/plate/plate_2/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.3555,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "butter",
+            "obj_groups": "butter_stick",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.01,
+                    0.01
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "butter_container",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "butter_stick",
+                    "dairy",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "butter_stick"
+                ],
+                "cat": "butter_stick",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_11/model.xml"
+            }
+        }
+    ],
+    "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_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_4_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"
+        },
+        "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"
+        },
+        "oven_cabinet_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_1_main_group_1": {
+            "cls": "Box"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_2_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "stove_main_group_1": {
+            "cls": "Stove"
+        },
+        "stove_hood_main_group_1": {
+            "cls": "Hood"
+        },
+        "stack_03_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_03_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_03_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_03_main_group_1_3": {
+            "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_01_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_01_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "papertowel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_oven_main_group_1": {
+            "cls": "ToasterOven"
+        },
+        "opencabinet_1_right_group_1": {
+            "cls": "OpenCabinet"
+        },
+        "cube_3_right_group_1": {
+            "cls": "Box"
+        },
+        "cube_4_right_group_1": {
+            "cls": "Box"
+        },
+        "hingecabinet_6_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_5_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "sink_right_group_1": {
+            "cls": "Sink"
+        },
+        "counter_4_right_group_1": {
+            "cls": "Counter"
+        },
+        "stack_05_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_05_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_05_right_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_04_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_04_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_06_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_06_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_2_right_group_1": {
+            "cls": "Box"
+        },
+        "cube_1_right_group_1": {
+            "cls": "Box"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "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_08_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_08_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_08_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_3_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_4_island_group_1": {
+            "cls": "Box"
+        },
+        "stack_06_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_06_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_06_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_island_group_1": {
+            "cls": "Box"
+        },
+        "dishwasher_1_island_group_1": {
+            "cls": "Dishwasher"
+        },
+        "plant_island_group_1": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Pick up the butter stick and place it in the pan. Then turn on the burner for the pan.",
+    "fixture_refs": {
+        "stove": "stove_main_group_1",
+        "counter": "counter_1_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
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.4660078628728925,
+        -1.0074148009406187,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5706379572530664
+    ],
+    "refs": {
+        "knob": "front_right"
+    }
+}

pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000003/ep_meta.json

@@ -0,0 +1,493 @@
+{
+    "layout_id": 26,
+    "style_id": 27,
+    "object_cfgs": [
+        {
+            "name": "pan",
+            "obj_groups": "pan",
+            "placement": {
+                "fixture": "stove_main_group",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "rear_left"
+                    ]
+                },
+                "size": [
+                    0.05,
+                    0.05
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pan",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "pan"
+                ],
+                "cat": "pan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/pan/pan_2/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.15800929449164697,
+                    0.14276134893581532,
+                    0.4390424604150111
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "rear_left"
+            }
+        },
+        {
+            "name": "butter_container",
+            "obj_groups": "plate",
+            "placement": {
+                "fixture": "counter_1_main_group",
+                "size": [
+                    0.35,
+                    0.35
+                ],
+                "sample_region_kwargs": {
+                    "ref": "stove_main_group",
+                    "loc": "left_right",
+                    "min_size": [
+                        0.2359663752600001,
+                        0.23449999188000006,
+                        0.03499999965
+                    ]
+                },
+                "pos": [
+                    "ref",
+                    -1.0
+                ],
+                "try_to_place_in": "plate"
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/plate/plate_3/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.9,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "butter",
+            "obj_groups": "butter_stick",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.01,
+                    0.01
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "butter_container",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "butter_stick",
+                    "dairy",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "butter_stick"
+                ],
+                "cat": "butter_stick",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_12/model.xml"
+            }
+        }
+    ],
+    "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"
+        },
+        "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"
+        },
+        "box_2_island_group": {
+            "cls": "Box"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Pick up the butter stick and place it in the pan. Then turn on the burner for the pan.",
+    "fixture_refs": {
+        "stove": "stove_main_group",
+        "counter": "counter_1_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
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+                1.05
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+        "robot0_agentview_right": {
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+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
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+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
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+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.087583960550108,
+        -0.839921765288847,
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+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
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+    "refs": {
+        "knob": "rear_left"
+    }
+}

pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000004/ep_meta.json

@@ -0,0 +1,412 @@
+{
+    "layout_id": 37,
+    "style_id": 17,
+    "object_cfgs": [
+        {
+            "name": "pan",
+            "obj_groups": "pan",
+            "placement": {
+                "fixture": "stovetop_left_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "front_left"
+                    ]
+                },
+                "size": [
+                    0.05,
+                    0.05
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+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pan",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "pan"
+                ],
+                "cat": "pan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/pan/pan_2/model.xml"
+            },
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+                    0.1
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+                "name": "front_left"
+            }
+        },
+        {
+            "name": "butter_container",
+            "obj_groups": "plate",
+            "placement": {
+                "fixture": "counter_1_left_group_1",
+                "size": [
+                    0.35,
+                    0.35
+                ],
+                "sample_region_kwargs": {
+                    "ref": "stovetop_left_group_1",
+                    "loc": "left_right",
+                    "min_size": [
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+                        0.23449999650000009,
+                        0.024499998600000007
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+                    -1.0
+                ],
+                "try_to_place_in": "plate"
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/plate/plate_1/model.xml"
+            },
+            "reset_region": {
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+                "name": "geom_1"
+            }
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+        {
+            "name": "butter",
+            "obj_groups": "butter_stick",
+            "graspable": true,
+            "placement": {
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+                    0.01
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+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "butter_container",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "butter_stick",
+                    "dairy",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "butter_stick"
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+                "cat": "butter_stick",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_2/model.xml"
+            }
+        }
+    ],
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+        "wall_main_1_room": {
+            "cls": "Wall"
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+        "wall_main_1_backing_room": {
+            "cls": "Wall"
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+        "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"
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+        "counter_1_left_group_1": {
+            "cls": "Counter"
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+        "hingecabinet_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_left_group_1": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cube_1_left_group_1": {
+            "cls": "Box"
+        },
+        "fridgefrenchdoor_left_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "bottom_left_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "oven_left_group_1": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_cabinet_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "top_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_1_3": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "papertowel_left_group_1": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_left_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_left_group_1": {
+            "cls": "Toaster"
+        },
+        "sink_island_group_1": {
+            "cls": "Sink"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "cube_5_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_3_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_4_island_group_1": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_island_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_1_island_group_1": {
+            "cls": "Dishwasher"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Pick up the butter stick and place it in the pan. Then turn on the burner for the pan.",
+    "fixture_refs": {
+        "stove": "stovetop_left_group_1",
+        "counter": "counter_1_left_group_1"
+    },
+    "cam_configs": {
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+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
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+                0.707107,
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+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        0.8163688260710374,
+        -2.4764443929406306,
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+        0.0,
+        0.0,
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+    "refs": {
+        "knob": "front_left"
+    }
+}

pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000005/ep_meta.json

@@ -0,0 +1,658 @@
+{
+    "layout_id": 25,
+    "style_id": 15,
+    "object_cfgs": [
+        {
+            "name": "pan",
+            "obj_groups": "pan",
+            "placement": {
+                "fixture": "stove_main_group",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
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+                        "front_center"
+                    ]
+                },
+                "size": [
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+                    0.05
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+            "type": "object",
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+                    "all",
+                    "pan",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "pan"
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+                "cat": "pan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/pan/pan_2/model.xml"
+            },
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+                "name": "front_center"
+            }
+        },
+        {
+            "name": "butter_container",
+            "obj_groups": "plate",
+            "placement": {
+                "fixture": "counter_1_main_group",
+                "size": [
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+                    0.35
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+                "sample_region_kwargs": {
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+                    "loc": "left_right",
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+                "try_to_place_in": "plate"
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+            "type": "object",
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+                    "receptacle",
+                    "container",
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+                "cat": "plate",
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+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/plate/plate_2/model.xml"
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+        },
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+            "placement": {
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+            "type": "object",
+            "info": {
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+            }
+        }
+    ],
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+        "wall_left_1_backing_room": {
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+        "wall_main_room": {
+            "cls": "Wall"
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+        "wall_main_backing_room": {
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+        "wall_right_1_room": {
+            "cls": "Wall"
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+        "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"
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+        "wall_accessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_5_room": {
+            "cls": "WallAccessory"
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+        "wall_accessory_6_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_7_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "window_group_2_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_2_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "box_1_main_group": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "box_2_main_group": {
+            "cls": "Box"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "cab_corner_1_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_above_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_above_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_3_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_above_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_4_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_4_above_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_1_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "box_left_group": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_4_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_5_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_6_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "paper_towel_left_group": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "corner_counter_right_group": {
+            "cls": "Counter"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "box_right_group": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "middle_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "counter_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_right_group_4": {
+            "cls": "Drawer"
+        },
+        "plant_right_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_island_group_2_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_island_group_2_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_island_group_2_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_4_island_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_island_group_2_2": {
+            "cls": "Drawer"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Pick up the butter stick and place it in the pan. Then turn on the burner for the pan.",
+    "fixture_refs": {
+        "stove": "stove_main_group",
+        "counter": "counter_1_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.62518161966209,
+        -0.9064664366037805,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ],
+    "refs": {
+        "knob": "front_center"
+    }
+}

pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000007/ep_meta.json

@@ -0,0 +1,439 @@
+{
+    "layout_id": 41,
+    "style_id": 60,
+    "object_cfgs": [
+        {
+            "name": "pan",
+            "obj_groups": "pan",
+            "placement": {
+                "fixture": "stove_right_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "front_left"
+                    ]
+                },
+                "size": [
+                    0.05,
+                    0.05
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pan",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "pan"
+                ],
+                "cat": "pan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/pan/pan_3/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.20074877808322203,
+                    -0.06912926694207545,
+                    0.471831195327171
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "front_left"
+            }
+        },
+        {
+            "name": "butter_container",
+            "obj_groups": "plate",
+            "placement": {
+                "fixture": "counter_1_right_group_1",
+                "size": [
+                    0.35,
+                    0.35
+                ],
+                "sample_region_kwargs": {
+                    "ref": "stove_right_group_1",
+                    "loc": "left_right",
+                    "min_size": [
+                        0.23414749974000007,
+                        0.23450000112000008,
+                        0.031500000840000014
+                    ]
+                },
+                "pos": [
+                    "ref",
+                    -1.0
+                ],
+                "try_to_place_in": "plate"
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/plate/plate_0/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.745,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "butter",
+            "obj_groups": "butter_stick",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.01,
+                    0.01
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "butter_container",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "butter_stick",
+                    "dairy",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "butter_stick"
+                ],
+                "cat": "butter_stick",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_3/model.xml"
+            }
+        }
+    ],
+    "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_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"
+        },
+        "lightswitch_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.003_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.001_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "sink_main_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "singlecabinet_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "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_2_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "cube_1_main_group_1": {
+            "cls": "Box"
+        },
+        "dishwasher_1_main_group_1": {
+            "cls": "Dishwasher"
+        },
+        "bottom_main_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "microwave_main_group_1": {
+            "cls": "Microwave"
+        },
+        "fridgesidebyside_main_group_1": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridgesidebyside_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "oven_cabinet_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "knife_block_main_group_1": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "counter_2_right_group_1": {
+            "cls": "Counter"
+        },
+        "stove_right_group_1": {
+            "cls": "Stove"
+        },
+        "stove_hood_right_group_1": {
+            "cls": "Hood"
+        },
+        "singlecabinet_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "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"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "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_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": "Drawer"
+        },
+        "stack_3_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "island_island_group_2": {
+            "cls": "Counter"
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+            "cls": "Box"
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+        "stack_4_island_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_5_island_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "paper_towel_island_group_2": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Pick up the butter stick and place it in the pan. Then turn on the burner for the pan.",
+    "fixture_refs": {
+        "stove": "stove_right_group_1",
+        "counter": "counter_1_right_group_1"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
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+                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
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+            "camera_attribs": {
+                "fovy": "60"
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+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
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+            "parent_body": "mobilebase0_support"
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+        "robot0_frontview": {
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+                -0.5,
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+                0.6088936924934387,
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+            "parent_body": "mobilebase0_support"
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+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
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+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
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+            "parent_body": "robot0_right_hand"
+        }
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+    "init_robot_base_pos": [
+        4.72429670685462,
+        -3.693100291684736,
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+    "init_robot_base_ori": [
+        0.0,
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+    "refs": {
+        "knob": "front_left"
+    }
+}

pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000009/ep_meta.json

@@ -0,0 +1,466 @@
+{
+    "layout_id": 45,
+    "style_id": 33,
+    "object_cfgs": [
+        {
+            "name": "pan",
+            "obj_groups": "pan",
+            "placement": {
+                "fixture": "stove_right_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "front_right"
+                    ]
+                },
+                "size": [
+                    0.05,
+                    0.05
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pan",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "pan"
+                ],
+                "cat": "pan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/pan/pan_3/model.xml"
+            },
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+                    0.1
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+                "name": "front_right"
+            }
+        },
+        {
+            "name": "butter_container",
+            "obj_groups": "plate",
+            "placement": {
+                "fixture": "counter_1_right_group_1",
+                "size": [
+                    0.35,
+                    0.35
+                ],
+                "sample_region_kwargs": {
+                    "ref": "stove_right_group_1",
+                    "loc": "left_right",
+                    "min_size": [
+                        0.2359663752600001,
+                        0.23449999188000006,
+                        0.03499999965
+                    ]
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+                "pos": [
+                    "ref",
+                    -1.0
+                ],
+                "try_to_place_in": "plate"
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/plate/plate_3/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.045,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "butter",
+            "obj_groups": "butter_stick",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.01,
+                    0.01
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "butter_container",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "butter_stick",
+                    "dairy",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "butter_stick"
+                ],
+                "cat": "butter_stick",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_11/model.xml"
+            }
+        }
+    ],
+    "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"
+        },
+        "stack_2_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "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"
+        },
+        "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": "Pick up the butter stick and place it in the pan. Then turn on the burner for the pan.",
+    "fixture_refs": {
+        "stove": "stove_right_group_1",
+        "counter": "counter_1_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
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
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+                -0.35,
+                1.05
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+                "fovy": "60"
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+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
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+                "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
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+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.829273968187506,
+        -2.1122992780568492,
+        0.0
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+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        0.00030199704781619374
+    ],
+    "refs": {
+        "knob": "front_right"
+    }
+}

pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000010/ep_meta.json

@@ -0,0 +1,523 @@
+{
+    "layout_id": 23,
+    "style_id": 36,
+    "object_cfgs": [
+        {
+            "name": "pan",
+            "obj_groups": "pan",
+            "placement": {
+                "fixture": "stove_left_group",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "rear_left"
+                    ]
+                },
+                "size": [
+                    0.05,
+                    0.05
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pan",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "pan"
+                ],
+                "cat": "pan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/pan/pan_3/model.xml"
+            },
+            "reset_region": {
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+                    0.1
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+                "name": "rear_left"
+            }
+        },
+        {
+            "name": "butter_container",
+            "obj_groups": "plate",
+            "placement": {
+                "fixture": "counter_1_left_group",
+                "size": [
+                    0.35,
+                    0.35
+                ],
+                "sample_region_kwargs": {
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+                    "loc": "left_right",
+                    "min_size": [
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+                        0.013999999860000004
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+                "pos": [
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+                "try_to_place_in": "plate"
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/plate/plate_2/model.xml"
+            },
+            "reset_region": {
+                "size": [
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+                    0.65
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+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
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+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "butter",
+            "obj_groups": "butter_stick",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.01,
+                    0.01
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "butter_container",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "butter_stick",
+                    "dairy",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "butter_stick"
+                ],
+                "cat": "butter_stick",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_0/model.xml"
+            }
+        }
+    ],
+    "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"
+        },
+        "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_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": "HingeCabinet"
+        },
+        "dishwasher_main_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "box_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_4_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "top_corner_box_main_group": {
+            "cls": "Box"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_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": "HingeCabinet"
+        },
+        "box_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"
+        },
+        "stack_4_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hood_left_group": {
+            "cls": "Hood"
+        },
+        "cab_1_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "toaster_left_group": {
+            "cls": "Toaster"
+        },
+        "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_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "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"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "island_1_island_group": {
+            "cls": "Counter"
+        },
+        "island_box_island_group": {
+            "cls": "Box"
+        },
+        "island_2_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_2_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "panel_stack_2_island_group_base": {
+            "cls": "Box"
+        },
+        "panel_stack_2_island_group_1": {
+            "cls": "PanelCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Pick up the butter stick and place it in the pan. Then turn on the burner for the pan.",
+    "fixture_refs": {
+        "stove": "stove_left_group",
+        "counter": "counter_1_left_group"
+    },
+    "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": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
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+                1.05
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+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
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+                -0.5,
+                0,
+                0.95
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+            "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": [
+        0.9461014056382443,
+        -2.1681872491181458,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415926193612504
+    ],
+    "refs": {
+        "knob": "rear_left"
+    }
+}

pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000012/ep_meta.json

@@ -0,0 +1,502 @@
+{
+    "layout_id": 51,
+    "style_id": 42,
+    "object_cfgs": [
+        {
+            "name": "pan",
+            "obj_groups": "pan",
+            "placement": {
+                "fixture": "stove_main_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "rear_right"
+                    ]
+                },
+                "size": [
+                    0.05,
+                    0.05
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pan",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "pan"
+                ],
+                "cat": "pan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/pan/pan_3/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.1465443008643839,
+                    0.19162638019226996,
+                    0.46965236862466925
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "rear_right"
+            }
+        },
+        {
+            "name": "butter_container",
+            "obj_groups": "plate",
+            "placement": {
+                "fixture": "counter_2_main_group_1",
+                "size": [
+                    0.35,
+                    0.35
+                ],
+                "sample_region_kwargs": {
+                    "ref": "stove_main_group_1",
+                    "loc": "left_right",
+                    "min_size": [
+                        0.23488067988000005,
+                        0.23449999650000009,
+                        0.024499998600000007
+                    ]
+                },
+                "pos": [
+                    "ref",
+                    -1.0
+                ],
+                "try_to_place_in": "plate"
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/plate/plate_1/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.3568491600000003,
+                    0.65
+                ],
+                "offset": [
+                    0.9093764200000003,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "butter",
+            "obj_groups": "butter_stick",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.01,
+                    0.01
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "butter_container",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "butter_stick",
+                    "dairy",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "butter_stick"
+                ],
+                "cat": "butter_stick",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_12/model.xml"
+            }
+        }
+    ],
+    "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"
+        },
+        "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": "Pick up the butter stick and place it in the pan. Then turn on the burner for the pan.",
+    "fixture_refs": {
+        "stove": "stove_main_group_1",
+        "counter": "counter_2_main_group_1"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
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+                0.0,
+                1.15
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+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
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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": {
+            "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": {
+            "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": [
+        6.338633928324612,
+        -0.8200564755788982,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.57064844767067
+    ],
+    "refs": {
+        "knob": "rear_right"
+    }
+}

pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000013/ep_meta.json

@@ -0,0 +1,472 @@
+{
+    "layout_id": 54,
+    "style_id": 58,
+    "object_cfgs": [
+        {
+            "name": "pan",
+            "obj_groups": "pan",
+            "placement": {
+                "fixture": "stove_main_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "rear_right"
+                    ]
+                },
+                "size": [
+                    0.05,
+                    0.05
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pan",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "pan"
+                ],
+                "cat": "pan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/pan/pan_3/model.xml"
+            },
+            "reset_region": {
+                "offset": [
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+                    0.14018190997303742,
+                    0.3066376428402726
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "rear_right"
+            }
+        },
+        {
+            "name": "butter_container",
+            "obj_groups": "plate",
+            "placement": {
+                "fixture": "counter_1_main_group_1",
+                "size": [
+                    0.35,
+                    0.35
+                ],
+                "sample_region_kwargs": {
+                    "ref": "stove_main_group_1",
+                    "loc": "left_right",
+                    "min_size": [
+                        0.23290678950000007,
+                        0.23449999650000009,
+                        0.013999999860000004
+                    ]
+                },
+                "pos": [
+                    "ref",
+                    -1.0
+                ],
+                "try_to_place_in": "plate"
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/plate/plate_2/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.3555,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "butter",
+            "obj_groups": "butter_stick",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.01,
+                    0.01
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "butter_container",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "butter_stick",
+                    "dairy",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "butter_stick"
+                ],
+                "cat": "butter_stick",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_3/model.xml"
+            }
+        }
+    ],
+    "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_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_4_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"
+        },
+        "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"
+        },
+        "oven_cabinet_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_1_main_group_1": {
+            "cls": "Box"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_2_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "stove_main_group_1": {
+            "cls": "Stove"
+        },
+        "stove_hood_main_group_1": {
+            "cls": "Hood"
+        },
+        "stack_03_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_03_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_03_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_03_main_group_1_3": {
+            "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_01_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_01_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "papertowel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_oven_main_group_1": {
+            "cls": "ToasterOven"
+        },
+        "opencabinet_1_right_group_1": {
+            "cls": "OpenCabinet"
+        },
+        "cube_3_right_group_1": {
+            "cls": "Box"
+        },
+        "cube_4_right_group_1": {
+            "cls": "Box"
+        },
+        "hingecabinet_6_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_5_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "sink_right_group_1": {
+            "cls": "Sink"
+        },
+        "counter_4_right_group_1": {
+            "cls": "Counter"
+        },
+        "stack_05_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_05_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_05_right_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_04_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_04_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_06_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_06_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_2_right_group_1": {
+            "cls": "Box"
+        },
+        "cube_1_right_group_1": {
+            "cls": "Box"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "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_08_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_08_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_08_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_3_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_4_island_group_1": {
+            "cls": "Box"
+        },
+        "stack_06_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_06_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_06_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_island_group_1": {
+            "cls": "Box"
+        },
+        "dishwasher_1_island_group_1": {
+            "cls": "Dishwasher"
+        },
+        "plant_island_group_1": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Pick up the butter stick and place it in the pan. Then turn on the burner for the pan.",
+    "fixture_refs": {
+        "stove": "stove_main_group_1",
+        "counter": "counter_1_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
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.3353395726889454,
+        -0.9763136475302804,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5706379572530664
+    ],
+    "refs": {
+        "knob": "rear_right"
+    }
+}

pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000014/ep_meta.json

@@ -0,0 +1,412 @@
+{
+    "layout_id": 37,
+    "style_id": 41,
+    "object_cfgs": [
+        {
+            "name": "pan",
+            "obj_groups": "pan",
+            "placement": {
+                "fixture": "stovetop_left_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "rear_left"
+                    ]
+                },
+                "size": [
+                    0.05,
+                    0.05
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pan",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "pan"
+                ],
+                "cat": "pan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/pan/pan_2/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.1960616465874109,
+                    0.1282580092769118,
+                    0.010299536306018318
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "rear_left"
+            }
+        },
+        {
+            "name": "butter_container",
+            "obj_groups": "plate",
+            "placement": {
+                "fixture": "counter_1_left_group_1",
+                "size": [
+                    0.35,
+                    0.35
+                ],
+                "sample_region_kwargs": {
+                    "ref": "stovetop_left_group_1",
+                    "loc": "left_right",
+                    "min_size": [
+                        0.23414749974000007,
+                        0.23450000112000008,
+                        0.031500000840000014
+                    ]
+                },
+                "pos": [
+                    "ref",
+                    -1.0
+                ],
+                "try_to_place_in": "plate"
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/plate/plate_0/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.0940063373000382,
+                    0.650008
+                ],
+                "offset": [
+                    -0.8879153313499809,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "butter",
+            "obj_groups": "butter_stick",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.01,
+                    0.01
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "butter_container",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "butter_stick",
+                    "dairy",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "butter_stick"
+                ],
+                "cat": "butter_stick",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_3/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_left_group_1": {
+            "cls": "Stovetop"
+        },
+        "counter_1_left_group_1": {
+            "cls": "Counter"
+        },
+        "hingecabinet_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_left_group_1": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cube_1_left_group_1": {
+            "cls": "Box"
+        },
+        "fridgefrenchdoor_left_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "bottom_left_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "oven_left_group_1": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_cabinet_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "top_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_1_3": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "papertowel_left_group_1": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_left_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_left_group_1": {
+            "cls": "Toaster"
+        },
+        "sink_island_group_1": {
+            "cls": "Sink"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "cube_5_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_3_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_4_island_group_1": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_island_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_1_island_group_1": {
+            "cls": "Dishwasher"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Pick up the butter stick and place it in the pan. Then turn on the burner for the pan.",
+    "fixture_refs": {
+        "stove": "stovetop_left_group_1",
+        "counter": "counter_1_left_group_1"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
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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
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
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+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        0.7997290238361974,
+        -2.2838777241810657,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1412906566438026
+    ],
+    "refs": {
+        "knob": "rear_left"
+    }
+}

pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000015/ep_meta.json

@@ -0,0 +1,637 @@
+{
+    "layout_id": 39,
+    "style_id": 26,
+    "object_cfgs": [
+        {
+            "name": "pan",
+            "obj_groups": "pan",
+            "placement": {
+                "fixture": "stovetop_island_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "rear_left"
+                    ]
+                },
+                "size": [
+                    0.05,
+                    0.05
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pan",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "pan"
+                ],
+                "cat": "pan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/pan/pan_3/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.25444405795717506,
+                    0.13746568195098444,
+                    -0.007280309186499837
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "rear_left"
+            }
+        },
+        {
+            "name": "butter_container",
+            "obj_groups": "plate",
+            "placement": {
+                "fixture": "island_island_group_1",
+                "size": [
+                    0.35,
+                    0.35
+                ],
+                "sample_region_kwargs": {
+                    "ref": "stovetop_island_group_1",
+                    "loc": "left_right",
+                    "min_size": [
+                        0.23290678950000007,
+                        0.23449999650000009,
+                        0.013999999860000004
+                    ]
+                },
+                "pos": [
+                    "ref",
+                    -1.0
+                ],
+                "try_to_place_in": "plate"
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/plate/plate_2/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.883998035691405,
+                    1.3
+                ],
+                "offset": [
+                    0.8580009821542978,
+                    2.0816681711721685e-17,
+                    0.46
+                ],
+                "name": "geom_1"
+            }
+        },
+        {
+            "name": "butter",
+            "obj_groups": "butter_stick",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.01,
+                    0.01
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "butter_container",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "butter_stick",
+                    "dairy",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "butter_stick"
+                ],
+                "cat": "butter_stick",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_3/model.xml"
+            }
+        }
+    ],
+    "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"
+        },
+        "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": "Pick up the butter stick and place it in the pan. Then turn on the burner for the pan.",
+    "fixture_refs": {
+        "stove": "stovetop_island_group_1",
+        "counter": "island_island_group_1"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
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+                0.0,
+                1.15
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+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
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+                0.35,
+                1.05
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+            "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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+                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,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.874563424294652,
+        -3.6565226040883427,
+        0.0
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+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ],
+    "refs": {
+        "knob": "rear_left"
+    }
+}

pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000016/ep_meta.json

@@ -0,0 +1,457 @@
+{
+    "layout_id": 11,
+    "style_id": 58,
+    "object_cfgs": [
+        {
+            "name": "pan",
+            "obj_groups": "pan",
+            "placement": {
+                "fixture": "stove_1_main_group",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "front_left"
+                    ]
+                },
+                "size": [
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+                    0.05
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pan",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "pan"
+                ],
+                "cat": "pan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/pan/pan_2/model.xml"
+            },
+            "reset_region": {
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+                    -0.16961108907365305,
+                    -0.14769091467718246,
+                    0.3066376428402726
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+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "front_left"
+            }
+        },
+        {
+            "name": "butter_container",
+            "obj_groups": "plate",
+            "placement": {
+                "fixture": "counter_2_main_group",
+                "size": [
+                    0.35,
+                    0.35
+                ],
+                "sample_region_kwargs": {
+                    "ref": "stove_1_main_group",
+                    "loc": "left_right",
+                    "min_size": [
+                        0.2359663752600001,
+                        0.23449999188000006,
+                        0.03499999965
+                    ]
+                },
+                "pos": [
+                    "ref",
+                    -1.0
+                ],
+                "try_to_place_in": "plate"
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/plate/plate_3/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.131,
+                    0.65
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+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "butter",
+            "obj_groups": "butter_stick",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.01,
+                    0.01
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "butter_container",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "butter_stick",
+                    "dairy",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "butter_stick"
+                ],
+                "cat": "butter_stick",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_1/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_room": {
+            "cls": "Wall"
+        },
+        "wall_main_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_3_room": {
+            "cls": "Wall"
+        },
+        "wall_left_3_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stove_1_main_group": {
+            "cls": "Stove"
+        },
+        "counter_2_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "counter_stack_main_group_base": {
+            "cls": "Box"
+        },
+        "counter_stack_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "counter_stack_main_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "counter_stack_main_group_3": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_left_group": {
+            "cls": "Counter"
+        },
+        "panel_cab_left_group_base": {
+            "cls": "Box"
+        },
+        "panel_cab_left_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "box_left_group": {
+            "cls": "Box"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_left_group": {
+            "cls": "Accessory"
+        },
+        "box_right_group": {
+            "cls": "Box"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "dining_dining_group": {
+            "cls": "Counter"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Pick up the butter stick and place it in the pan. Then turn on the burner for the pan.",
+    "fixture_refs": {
+        "stove": "stove_1_main_group",
+        "counter": "counter_2_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
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
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+                -0.35,
+                1.05
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+                0.3767866790294647,
+                -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": [
+                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": [
+        2.013295622883119,
+        -0.841730524386675,
+        0.0
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+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
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+    "refs": {
+        "knob": "front_left"
+    }
+}

pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000019/ep_meta.json

@@ -0,0 +1,391 @@
+{
+    "layout_id": 40,
+    "style_id": 30,
+    "object_cfgs": [
+        {
+            "name": "pan",
+            "obj_groups": "pan",
+            "placement": {
+                "fixture": "stove_right_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "front_left"
+                    ]
+                },
+                "size": [
+                    0.05,
+                    0.05
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pan",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "pan"
+                ],
+                "cat": "pan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/pan/pan_2/model.xml"
+            },
+            "reset_region": {
+                "offset": [
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+                    0.4390424604150111
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+                "size": [
+                    0.1,
+                    0.1
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+                "name": "front_left"
+            }
+        },
+        {
+            "name": "butter_container",
+            "obj_groups": "plate",
+            "placement": {
+                "fixture": "counter_1_right_group_1",
+                "size": [
+                    0.35,
+                    0.35
+                ],
+                "sample_region_kwargs": {
+                    "ref": "stove_right_group_1",
+                    "loc": "left_right",
+                    "min_size": [
+                        0.2359663752600001,
+                        0.23449999188000006,
+                        0.03499999965
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+                },
+                "pos": [
+                    "ref",
+                    -1.0
+                ],
+                "try_to_place_in": "plate"
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/plate/plate_3/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.8979745460768134,
+                    0.65
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+                "offset": [
+                    0.7685127269615932,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "butter",
+            "obj_groups": "butter_stick",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.01,
+                    0.01
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "butter_container",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "butter_stick",
+                    "dairy",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "butter_stick"
+                ],
+                "cat": "butter_stick",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_10/model.xml"
+            }
+        }
+    ],
+    "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"
+        },
+        "lightswitch_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.002_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.001_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.003_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "counter_corner_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "box_1_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": "Drawer"
+        },
+        "stack_2_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_2_main_group_1": {
+            "cls": "Box"
+        },
+        "coffeemachine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "papertowel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "sink_right_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "stove_right_group_1": {
+            "cls": "Stove"
+        },
+        "microwave_right_group_1": {
+            "cls": "Microwave"
+        },
+        "micro_cab_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "box_1_right_group_1": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_1_right_group_1": {
+            "cls": "Dishwasher"
+        },
+        "box_2_right_group_1": {
+            "cls": "Box"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "fridgefrenchdoor_right_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_1_right_group_1": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Pick up the butter stick and place it in the pan. Then turn on the burner for the pan.",
+    "fixture_refs": {
+        "stove": "stove_right_group_1",
+        "counter": "counter_1_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": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
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+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
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+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
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+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.8995689385843857,
+        -3.4743456027896644,
+        0.0
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+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        0.00030199704781619374
+    ],
+    "refs": {
+        "knob": "front_left"
+    }
+}

pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000020/ep_meta.json

@@ -0,0 +1,460 @@
+{
+    "layout_id": 38,
+    "style_id": 14,
+    "object_cfgs": [
+        {
+            "name": "pan",
+            "obj_groups": "pan",
+            "placement": {
+                "fixture": "stove_left_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "rear_right"
+                    ]
+                },
+                "size": [
+                    0.05,
+                    0.05
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pan",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "pan"
+                ],
+                "cat": "pan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/pan/pan_3/model.xml"
+            },
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+                    0.1
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+                "name": "rear_right"
+            }
+        },
+        {
+            "name": "butter_container",
+            "obj_groups": "plate",
+            "placement": {
+                "fixture": "counter_1_left_group_1",
+                "size": [
+                    0.35,
+                    0.35
+                ],
+                "sample_region_kwargs": {
+                    "ref": "stove_left_group_1",
+                    "loc": "left_right",
+                    "min_size": [
+                        0.23488067988000005,
+                        0.23449999650000009,
+                        0.024499998600000007
+                    ]
+                },
+                "pos": [
+                    "ref",
+                    -1.0
+                ],
+                "try_to_place_in": "plate"
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/plate/plate_1/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.327,
+                    0.65
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+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "butter",
+            "obj_groups": "butter_stick",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.01,
+                    0.01
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "butter_container",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "butter_stick",
+                    "dairy",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "butter_stick"
+                ],
+                "cat": "butter_stick",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_3/model.xml"
+            }
+        }
+    ],
+    "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"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_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.007_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stool_4_room": {
+            "cls": "Stool"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "sink_main_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "opencabinet_1_main_group_1": {
+            "cls": "OpenCabinet"
+        },
+        "opencabinet_2_main_group_1": {
+            "cls": "OpenCabinet"
+        },
+        "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_4_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "dishwasher_1_main_group_1": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "coffeemachine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "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"
+        },
+        "counter_1_left_group_1": {
+            "cls": "Counter"
+        },
+        "stove_left_group_1": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group_1": {
+            "cls": "Counter"
+        },
+        "fridgesidebyside_left_group_1": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridgesidebyside_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_4_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "knifeblock_left_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_left_group_1": {
+            "cls": "ToasterOven"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "cube_3_island_group_1": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "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"
+        },
+        "stack_4_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_island_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_2_island_group_1": {
+            "cls": "Box"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Pick up the butter stick and place it in the pan. Then turn on the burner for the pan.",
+    "fixture_refs": {
+        "stove": "stove_left_group_1",
+        "counter": "counter_1_left_group_1"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
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+                1.15
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+        },
+        "robot0_agentview_left": {
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+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
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+                -0.35,
+                1.05
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+                0.3767866790294647,
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+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
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+                -0.5,
+                0,
+                0.95
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
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+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        0.8904110891774634,
+        -4.351854269065551,
+        0.0
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+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1412906566438026
+    ],
+    "refs": {
+        "knob": "rear_right"
+    }
+}

pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000021/ep_meta.json

@@ -0,0 +1,508 @@
+{
+    "layout_id": 18,
+    "style_id": 31,
+    "object_cfgs": [
+        {
+            "name": "pan",
+            "obj_groups": "pan",
+            "placement": {
+                "fixture": "stovetop_left_group",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "front_right"
+                    ]
+                },
+                "size": [
+                    0.05,
+                    0.05
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pan",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "pan"
+                ],
+                "cat": "pan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/pan/pan_3/model.xml"
+            },
+            "reset_region": {
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+                "size": [
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+                    0.1
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+                "name": "front_right"
+            }
+        },
+        {
+            "name": "butter_container",
+            "obj_groups": "plate",
+            "placement": {
+                "fixture": "counter_1_left_group",
+                "size": [
+                    0.35,
+                    0.35
+                ],
+                "sample_region_kwargs": {
+                    "ref": "stovetop_left_group",
+                    "loc": "left_right",
+                    "min_size": [
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+                        0.03499999965
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+                "pos": [
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+                    -1.0
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+                "try_to_place_in": "plate"
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/plate/plate_3/model.xml"
+            },
+            "reset_region": {
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+                "offset": [
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+                    -3.469446951953614e-17,
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+                "name": "geom_1"
+            }
+        },
+        {
+            "name": "butter",
+            "obj_groups": "butter_stick",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.01,
+                    0.01
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "butter_container",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "butter_stick",
+                    "dairy",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "butter_stick"
+                ],
+                "cat": "butter_stick",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_10/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_main_room": {
+            "cls": "Wall"
+        },
+        "wall_main_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_3_room": {
+            "cls": "Wall"
+        },
+        "wall_left_3_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "light_switch_1_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_4_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_5_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_6_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_7_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "window_group_2_room": {
+            "cls": "Window"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "box_1_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "stovetop_left_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_5": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_6": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "PanelCabinet"
+        },
+        "stack_4_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_5": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_6": {
+            "cls": "Drawer"
+        },
+        "stack_5_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "hood_left_group": {
+            "cls": "Hood"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "paper_towel_left_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "sink_1_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "box_1_right_group": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_1_right_group": {
+            "cls": "Dishwasher"
+        },
+        "panel_stack_right_group_base": {
+            "cls": "Box"
+        },
+        "panel_stack_right_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "wall_stack_right_group_base": {
+            "cls": "Box"
+        },
+        "wall_stack_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Pick up the butter stick and place it in the pan. Then turn on the burner for the pan.",
+    "fixture_refs": {
+        "stove": "stovetop_left_group",
+        "counter": "counter_1_left_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
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+            "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
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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": [
+        0.8017458593438423,
+        -4.364761508844392,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.141592787948654
+    ],
+    "refs": {
+        "knob": "front_right"
+    }
+}

pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000022/ep_meta.json

@@ -0,0 +1,505 @@
+{
+    "layout_id": 16,
+    "style_id": 16,
+    "object_cfgs": [
+        {
+            "name": "pan",
+            "obj_groups": "pan",
+            "placement": {
+                "fixture": "stove_main_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "rear_left"
+                    ]
+                },
+                "size": [
+                    0.05,
+                    0.05
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pan",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "pan"
+                ],
+                "cat": "pan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/pan/pan_3/model.xml"
+            },
+            "reset_region": {
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+                    0.14276134893581532,
+                    0.4390424604150111
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+                "size": [
+                    0.1,
+                    0.1
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+                "name": "rear_left"
+            }
+        },
+        {
+            "name": "butter_container",
+            "obj_groups": "plate",
+            "placement": {
+                "fixture": "counter_1_main_group_1",
+                "size": [
+                    0.35,
+                    0.35
+                ],
+                "sample_region_kwargs": {
+                    "ref": "stove_main_group_1",
+                    "loc": "left_right",
+                    "min_size": [
+                        0.23290678950000007,
+                        0.23449999650000009,
+                        0.013999999860000004
+                    ]
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+                "pos": [
+                    "ref",
+                    -1.0
+                ],
+                "try_to_place_in": "plate"
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/plate/plate_2/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.4,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "butter",
+            "obj_groups": "butter_stick",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.01,
+                    0.01
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "butter_container",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "butter_stick",
+                    "dairy",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "butter_stick"
+                ],
+                "cat": "butter_stick",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_12/model.xml"
+            }
+        }
+    ],
+    "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"
+        },
+        "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": "Pick up the butter stick and place it in the pan. Then turn on the burner for the pan.",
+    "fixture_refs": {
+        "stove": "stove_main_group_1",
+        "counter": "counter_1_main_group_1"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                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
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
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+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
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+                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": [
+        1.676704732611874,
+        -0.8482755208318723,
+        0.0
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+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ],
+    "refs": {
+        "knob": "rear_left"
+    }
+}

pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000023/ep_meta.json

@@ -0,0 +1,409 @@
+{
+    "layout_id": 34,
+    "style_id": 36,
+    "object_cfgs": [
+        {
+            "name": "pan",
+            "obj_groups": "pan",
+            "placement": {
+                "fixture": "stovetop_left_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "rear_left"
+                    ]
+                },
+                "size": [
+                    0.05,
+                    0.05
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pan",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "pan"
+                ],
+                "cat": "pan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/pan/pan_3/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.26269995242426386,
+                    0.14062405596327,
+                    -0.003325541657284443
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+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "rear_left"
+            }
+        },
+        {
+            "name": "butter_container",
+            "obj_groups": "plate",
+            "placement": {
+                "fixture": "counter_1_left_group_1",
+                "size": [
+                    0.35,
+                    0.35
+                ],
+                "sample_region_kwargs": {
+                    "ref": "stovetop_left_group_1",
+                    "loc": "left_right",
+                    "min_size": [
+                        0.23488067988000005,
+                        0.23449999650000009,
+                        0.024499998600000007
+                    ]
+                },
+                "pos": [
+                    "ref",
+                    -1.0
+                ],
+                "try_to_place_in": "plate"
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/plate/plate_1/model.xml"
+            },
+            "reset_region": {
+                "size": [
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+                    0.65
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+                    1.2004522953172467,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "butter",
+            "obj_groups": "butter_stick",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.01,
+                    0.01
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "butter_container",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "butter_stick",
+                    "dairy",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "butter_stick"
+                ],
+                "cat": "butter_stick",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_3/model.xml"
+            }
+        }
+    ],
+    "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"
+        },
+        "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": "Pick up the butter stick and place it in the pan. Then turn on the burner for the pan.",
+    "fixture_refs": {
+        "stove": "stovetop_left_group_1",
+        "counter": "counter_1_left_group_1"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
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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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+        "robot0_agentview_right": {
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+        "robot0_eye_in_hand": {
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+                0.707107,
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+            "parent_body": "robot0_right_hand"
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+    "init_robot_base_pos": [
+        0.8150157954546954,
+        -2.350302907033543,
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+        0.0,
+        0.0,
+        3.1412906566438026
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+    "refs": {
+        "knob": "rear_left"
+    }
+}

pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000026/ep_meta.json

@@ -0,0 +1,409 @@
+{
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+    "style_id": 18,
+    "object_cfgs": [
+        {
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+            "obj_groups": "pan",
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+                        "rear_center"
+                    ]
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+                "size": [
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+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pan",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "pan"
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+                "cat": "pan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/pan/pan_3/model.xml"
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+                "name": "rear_center"
+            }
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+        {
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+            "obj_groups": "plate",
+            "placement": {
+                "fixture": "counter_1_left_group_1",
+                "size": [
+                    0.35,
+                    0.35
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+                    "ref": "stovetop_left_group_1",
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+                        0.23449999188000006,
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+                "try_to_place_in": "plate"
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/plate/plate_3/model.xml"
+            },
+            "reset_region": {
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+                "name": "geom_1"
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+        },
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+            "name": "butter",
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+            "placement": {
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+                "sample_args": {
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+            "type": "object",
+            "info": {
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+                    "all",
+                    "butter_stick",
+                    "dairy",
+                    "food",
+                    "in_container"
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+                "groups": [
+                    "butter_stick"
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+                "cat": "butter_stick",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_10/model.xml"
+            }
+        }
+    ],
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+        "wall_main_1_backing_room": {
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+        "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"
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+        "stool_3_room": {
+            "cls": "Stool"
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+        "stool_4_room": {
+            "cls": "Stool"
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+            "cls": "Stool"
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+            "cls": "Stovetop"
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+        "hingecabinet_4_left_group_1": {
+            "cls": "HingeCabinet"
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+        "hingecabinet_3_left_group_1": {
+            "cls": "HingeCabinet"
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+        "hingecabinet_2_left_group_1": {
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+        "singlecabinet_1_left_group_1": {
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+            "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"
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+            "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"
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+        "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"
+        },
+        "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": "Pick up the butter stick and place it in the pan. Then turn on the burner for the pan.",
+    "fixture_refs": {
+        "stove": "stovetop_left_group_1",
+        "counter": "counter_1_left_group_1"
+    },
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+            "parent_body": "robot0_right_hand"
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+    "refs": {
+        "knob": "rear_center"
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+}

pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000029/ep_meta.json

@@ -0,0 +1,532 @@
+{
+    "layout_id": 24,
+    "style_id": 11,
+    "object_cfgs": [
+        {
+            "name": "pan",
+            "obj_groups": "pan",
+            "placement": {
+                "fixture": "stove_main_group",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "rear_right"
+                    ]
+                },
+                "size": [
+                    0.05,
+                    0.05
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pan",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "pan"
+                ],
+                "cat": "pan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/pan/pan_2/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.2381915352045896,
+                    0.2068836284321821,
+                    0.4566417263464204
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "rear_right"
+            }
+        },
+        {
+            "name": "butter_container",
+            "obj_groups": "plate",
+            "placement": {
+                "fixture": "counter_2_main_group",
+                "size": [
+                    0.35,
+                    0.35
+                ],
+                "sample_region_kwargs": {
+                    "ref": "stove_main_group",
+                    "loc": "left_right",
+                    "min_size": [
+                        0.23414749974000007,
+                        0.23450000112000008,
+                        0.031500000840000014
+                    ]
+                },
+                "pos": [
+                    "ref",
+                    -1.0
+                ],
+                "try_to_place_in": "plate"
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/plate/plate_0/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    3.219,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "butter",
+            "obj_groups": "butter_stick",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.01,
+                    0.01
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "butter_container",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "butter_stick",
+                    "dairy",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "butter_stick"
+                ],
+                "cat": "butter_stick",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_12/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_5_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_6_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "window_group_2_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_2_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "dishwasher_main_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_5": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_6": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_7_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_7_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_7_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_7_main_group_3": {
+            "cls": "Drawer"
+        },
+        "wall_stack_main_group_base": {
+            "cls": "Box"
+        },
+        "wall_stack_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "wall_stack_main_group_2": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_4_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_5_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_6_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_cabinet_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "sink_1_island_group_1": {
+            "cls": "Sink"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "box_island_group_1": {
+            "cls": "Box"
+        },
+        "panel_box_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "panel_box_1_island_group_1_1": {
+            "cls": "PanelCabinet"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_island_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_4_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_5_island_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_5_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_island_group_1_3": {
+            "cls": "Drawer"
+        },
+        "plant_island_group_1": {
+            "cls": "Accessory"
+        },
+        "stack_1_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_2_1": {
+            "cls": "SingleCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Pick up the butter stick and place it in the pan. Then turn on the burner for the pan.",
+    "fixture_refs": {
+        "stove": "stove_main_group",
+        "counter": "counter_2_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": [
+        4.285757523869035,
+        -0.8991992259692367,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ],
+    "refs": {
+        "knob": "rear_right"
+    }
+}

pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000030/ep_meta.json

@@ -0,0 +1,484 @@
+{
+    "layout_id": 47,
+    "style_id": 43,
+    "object_cfgs": [
+        {
+            "name": "pan",
+            "obj_groups": "pan",
+            "placement": {
+                "fixture": "stove_main_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "rear_right"
+                    ]
+                },
+                "size": [
+                    0.05,
+                    0.05
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pan",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "pan"
+                ],
+                "cat": "pan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/pan/pan_2/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.1697292733598175,
+                    0.16156454641941922,
+                    0.4619347540804282
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "rear_right"
+            }
+        },
+        {
+            "name": "butter_container",
+            "obj_groups": "plate",
+            "placement": {
+                "fixture": "counter_01_main_group_1",
+                "size": [
+                    0.35,
+                    0.35
+                ],
+                "sample_region_kwargs": {
+                    "ref": "stove_main_group_1",
+                    "loc": "left_right",
+                    "min_size": [
+                        0.2359663752600001,
+                        0.23449999188000006,
+                        0.03499999965
+                    ]
+                },
+                "pos": [
+                    "ref",
+                    -1.0
+                ],
+                "try_to_place_in": "plate"
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/plate/plate_3/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.624211,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "butter",
+            "obj_groups": "butter_stick",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.01,
+                    0.01
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "butter_container",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "butter_stick",
+                    "dairy",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "butter_stick"
+                ],
+                "cat": "butter_stick",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_2/model.xml"
+            }
+        }
+    ],
+    "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"
+        },
+        "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": "Pick up the butter stick and place it in the pan. Then turn on the burner for the pan.",
+    "fixture_refs": {
+        "stove": "stove_main_group_1",
+        "counter": "counter_01_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
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        5.38902825297842,
+        -0.9534022917379548,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5706378857158503
+    ],
+    "refs": {
+        "knob": "rear_right"
+    }
+}

pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000031/ep_meta.json

@@ -0,0 +1,472 @@
+{
+    "layout_id": 54,
+    "style_id": 59,
+    "object_cfgs": [
+        {
+            "name": "pan",
+            "obj_groups": "pan",
+            "placement": {
+                "fixture": "stove_main_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "rear_right"
+                    ]
+                },
+                "size": [
+                    0.05,
+                    0.05
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pan",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "pan"
+                ],
+                "cat": "pan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/pan/pan_3/model.xml"
+            },
+            "reset_region": {
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+                    0.1579176201008437,
+                    0.45199208881856817
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+                "size": [
+                    0.1,
+                    0.1
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+                "name": "rear_right"
+            }
+        },
+        {
+            "name": "butter_container",
+            "obj_groups": "plate",
+            "placement": {
+                "fixture": "counter_2_main_group_1",
+                "size": [
+                    0.35,
+                    0.35
+                ],
+                "sample_region_kwargs": {
+                    "ref": "stove_main_group_1",
+                    "loc": "left_right",
+                    "min_size": [
+                        0.23290678950000007,
+                        0.23449999650000009,
+                        0.013999999860000004
+                    ]
+                },
+                "pos": [
+                    "ref",
+                    -1.0
+                ],
+                "try_to_place_in": "plate"
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/plate/plate_2/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.022279,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "butter",
+            "obj_groups": "butter_stick",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.01,
+                    0.01
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "butter_container",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "butter_stick",
+                    "dairy",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "butter_stick"
+                ],
+                "cat": "butter_stick",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_3/model.xml"
+            }
+        }
+    ],
+    "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_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_4_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"
+        },
+        "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"
+        },
+        "oven_cabinet_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_1_main_group_1": {
+            "cls": "Box"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_2_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "stove_main_group_1": {
+            "cls": "Stove"
+        },
+        "stove_hood_main_group_1": {
+            "cls": "Hood"
+        },
+        "stack_03_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_03_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_03_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_03_main_group_1_3": {
+            "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_01_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_01_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "papertowel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_oven_main_group_1": {
+            "cls": "ToasterOven"
+        },
+        "opencabinet_1_right_group_1": {
+            "cls": "OpenCabinet"
+        },
+        "cube_3_right_group_1": {
+            "cls": "Box"
+        },
+        "cube_4_right_group_1": {
+            "cls": "Box"
+        },
+        "hingecabinet_6_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_5_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "sink_right_group_1": {
+            "cls": "Sink"
+        },
+        "counter_4_right_group_1": {
+            "cls": "Counter"
+        },
+        "stack_05_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_05_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_05_right_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_04_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_04_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_06_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_06_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_2_right_group_1": {
+            "cls": "Box"
+        },
+        "cube_1_right_group_1": {
+            "cls": "Box"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "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_08_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_08_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_08_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_3_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_4_island_group_1": {
+            "cls": "Box"
+        },
+        "stack_06_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_06_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_06_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_island_group_1": {
+            "cls": "Box"
+        },
+        "dishwasher_1_island_group_1": {
+            "cls": "Dishwasher"
+        },
+        "plant_island_group_1": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Pick up the butter stick and place it in the pan. Then turn on the burner for the pan.",
+    "fixture_refs": {
+        "stove": "stove_main_group_1",
+        "counter": "counter_2_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
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
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+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.4046862881562654,
+        -0.935710687885721,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5706379572530664
+    ],
+    "refs": {
+        "knob": "rear_right"
+    }
+}

pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000032/ep_meta.json

@@ -0,0 +1,574 @@
+{
+    "layout_id": 29,
+    "style_id": 52,
+    "object_cfgs": [
+        {
+            "name": "pan",
+            "obj_groups": "pan",
+            "placement": {
+                "fixture": "stovetop_left_group",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "front_right"
+                    ]
+                },
+                "size": [
+                    0.05,
+                    0.05
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pan",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "pan"
+                ],
+                "cat": "pan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/pan/pan_2/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.21585003747584525,
+                    -0.07953177139130535,
+                    0.0087095887489308
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "front_right"
+            }
+        },
+        {
+            "name": "butter_container",
+            "obj_groups": "plate",
+            "placement": {
+                "fixture": "counter_1_left_group",
+                "size": [
+                    0.35,
+                    0.35
+                ],
+                "sample_region_kwargs": {
+                    "ref": "stovetop_left_group",
+                    "loc": "left_right",
+                    "min_size": [
+                        0.23290678950000007,
+                        0.23449999650000009,
+                        0.013999999860000004
+                    ]
+                },
+                "pos": [
+                    "ref",
+                    -1.0
+                ],
+                "try_to_place_in": "plate"
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/plate/plate_2/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.3999433326264594,
+                    0.65
+                ],
+                "offset": [
+                    -1.0500283336867704,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_1"
+            }
+        },
+        {
+            "name": "butter",
+            "obj_groups": "butter_stick",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.01,
+                    0.01
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "butter_container",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "butter_stick",
+                    "dairy",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "butter_stick"
+                ],
+                "cat": "butter_stick",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_12/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_4_room": {
+            "cls": "Wall"
+        },
+        "wall_left_4_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_3_room": {
+            "cls": "Wall"
+        },
+        "wall_left_3_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "light_switch_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stool_4_room": {
+            "cls": "Stool"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "middle_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "dishwasher_main_group": {
+            "cls": "Dishwasher"
+        },
+        "panel_stack_main_group_base": {
+            "cls": "Box"
+        },
+        "panel_stack_main_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_4_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_5_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_6_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "stovetop_left_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "PanelCabinet"
+        },
+        "stack_4_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_5_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_left_group_3": {
+            "cls": "Drawer"
+        },
+        "hood_left_group": {
+            "cls": "Hood"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_4_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_left_group": {
+            "cls": "Toaster"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "panel_box_1_island_group_base": {
+            "cls": "Box"
+        },
+        "panel_box_1_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_island_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_island_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_5_island_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_island_group_3": {
+            "cls": "Drawer"
+        },
+        "panel_cab_2_island_group_base": {
+            "cls": "Box"
+        },
+        "panel_cab_2_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "box_island_group": {
+            "cls": "Box"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Pick up the butter stick and place it in the pan. Then turn on the burner for the pan.",
+    "fixture_refs": {
+        "stove": "stovetop_left_group",
+        "counter": "counter_1_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": [
+        0.15564652479311972,
+        -4.219712709976239,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415926193612504
+    ],
+    "refs": {
+        "knob": "front_right"
+    }
+}

pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000034/ep_meta.json

@@ -0,0 +1,529 @@
+{
+    "layout_id": 43,
+    "style_id": 50,
+    "object_cfgs": [
+        {
+            "name": "pan",
+            "obj_groups": "pan",
+            "placement": {
+                "fixture": "stove_main_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "front_left"
+                    ]
+                },
+                "size": [
+                    0.05,
+                    0.05
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pan",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "pan"
+                ],
+                "cat": "pan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/pan/pan_3/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.1634830763681588,
+                    -0.09961690942935982,
+                    0.48370738282279596
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "front_left"
+            }
+        },
+        {
+            "name": "butter_container",
+            "obj_groups": "plate",
+            "placement": {
+                "fixture": "counter_1_main_group_1",
+                "size": [
+                    0.35,
+                    0.35
+                ],
+                "sample_region_kwargs": {
+                    "ref": "stove_main_group_1",
+                    "loc": "left_right",
+                    "min_size": [
+                        0.23414749974000007,
+                        0.23450000112000008,
+                        0.031500000840000014
+                    ]
+                },
+                "pos": [
+                    "ref",
+                    -1.0
+                ],
+                "try_to_place_in": "plate"
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/plate/plate_0/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.051177,
+                    0.650008
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "butter",
+            "obj_groups": "butter_stick",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.01,
+                    0.01
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "butter_container",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "butter_stick",
+                    "dairy",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "butter_stick"
+                ],
+                "cat": "butter_stick",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_10/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_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"
+        },
+        "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": {
+            "cls": "Hood"
+        },
+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cube_1_main_group_1": {
+            "cls": "Box"
+        },
+        "hingecabinet_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cube_2_main_group_1": {
+            "cls": "Box"
+        },
+        "coffeemachine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "papertowel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "plant_main_group_1": {
+            "cls": "Accessory"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "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_3_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_3_main_group_1": {
+            "cls": "Box"
+        },
+        "cube_4_main_group_1": {
+            "cls": "Box"
+        },
+        "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"
+        },
+        "cube_1_front_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_front_group_1": {
+            "cls": "Box"
+        },
+        "stack_2_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_front_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "singlecabinet_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "hingecabinet_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "opencabinet_1_right_group_1": {
+            "cls": "OpenCabinet"
+        },
+        "cube_1_right_group_1": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_1": {
+            "cls": "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": "Pick up the butter stick and place it in the pan. Then turn on the burner for the pan.",
+    "fixture_refs": {
+        "stove": "stove_main_group_1",
+        "counter": "counter_1_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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+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.8626936413042543,
+        -0.865072744190086,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ],
+    "refs": {
+        "knob": "front_left"
+    }
+}

pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000035/ep_meta.json

@@ -0,0 +1,472 @@
+{
+    "layout_id": 30,
+    "style_id": 59,
+    "object_cfgs": [
+        {
+            "name": "pan",
+            "obj_groups": "pan",
+            "placement": {
+                "fixture": "stove_left_group",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "front_left"
+                    ]
+                },
+                "size": [
+                    0.05,
+                    0.05
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pan",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "pan"
+                ],
+                "cat": "pan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/pan/pan_3/model.xml"
+            },
+            "reset_region": {
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+                    0.45199089660907493
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+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "front_left"
+            }
+        },
+        {
+            "name": "butter_container",
+            "obj_groups": "plate",
+            "placement": {
+                "fixture": "counter_1_left_group",
+                "size": [
+                    0.35,
+                    0.35
+                ],
+                "sample_region_kwargs": {
+                    "ref": "stove_left_group",
+                    "loc": "left_right",
+                    "min_size": [
+                        0.23414749974000007,
+                        0.23450000112000008,
+                        0.031500000840000014
+                    ]
+                },
+                "pos": [
+                    "ref",
+                    -1.0
+                ],
+                "try_to_place_in": "plate"
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/plate/plate_0/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.8,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "butter",
+            "obj_groups": "butter_stick",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.01,
+                    0.01
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "butter_container",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "butter_stick",
+                    "dairy",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "butter_stick"
+                ],
+                "cat": "butter_stick",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_11/model.xml"
+            }
+        }
+    ],
+    "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"
+        },
+        "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"
+        },
+        "ligh_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_4_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_5_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "window_group_2_room": {
+            "cls": "Window"
+        },
+        "window_group_3_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_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": "Drawer"
+        },
+        "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"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_4_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_5_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_6_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_left_group": {
+            "cls": "Accessory"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "box_right_group": {
+            "cls": "Box"
+        },
+        "cab_1_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        },
+        "dining_front_group": {
+            "cls": "Counter"
+        },
+        "box_front_group": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_front_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_front_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_front_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_front_group_4": {
+            "cls": "Drawer"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Pick up the butter stick and place it in the pan. Then turn on the burner for the pan.",
+    "fixture_refs": {
+        "stove": "stove_left_group",
+        "counter": "counter_1_left_group"
+    },
+    "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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+                0.3767866790294647,
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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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+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        0.8618316304755818,
+        -2.518649191033052,
+        0.0
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+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415926193612504
+    ],
+    "refs": {
+        "knob": "front_left"
+    }
+}

pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000036/ep_meta.json

@@ -0,0 +1,550 @@
+{
+    "layout_id": 49,
+    "style_id": 53,
+    "object_cfgs": [
+        {
+            "name": "pan",
+            "obj_groups": "pan",
+            "placement": {
+                "fixture": "stove_main_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "front_right"
+                    ]
+                },
+                "size": [
+                    0.05,
+                    0.05
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pan",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "pan"
+                ],
+                "cat": "pan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/pan/pan_3/model.xml"
+            },
+            "reset_region": {
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+                    0.42613688140483036
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+                "size": [
+                    0.1,
+                    0.1
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+                "name": "front_right"
+            }
+        },
+        {
+            "name": "butter_container",
+            "obj_groups": "plate",
+            "placement": {
+                "fixture": "counter_2_main_group_1",
+                "size": [
+                    0.35,
+                    0.35
+                ],
+                "sample_region_kwargs": {
+                    "ref": "stove_main_group_1",
+                    "loc": "left_right",
+                    "min_size": [
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+                        0.23449999650000009,
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+                "pos": [
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+                "try_to_place_in": "plate"
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/plate/plate_1/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.486196,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "butter",
+            "obj_groups": "butter_stick",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.01,
+                    0.01
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "butter_container",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "butter_stick",
+                    "dairy",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "butter_stick"
+                ],
+                "cat": "butter_stick",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_12/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "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_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_4_room": {
+            "cls": "Wall"
+        },
+        "wall_left_4_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_3_room": {
+            "cls": "Wall"
+        },
+        "wall_left_3_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_4_room": {
+            "cls": "Wall"
+        },
+        "wall_main_4_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"
+        },
+        "wallaccessory_7_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_6_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_5_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_11_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "stool_4_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "hingecabinet_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_4_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "counter_corner_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_2_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_13_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": "SingleCabinet"
+        },
+        "stack_01_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "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_03_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_03_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_03_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_03_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_04_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_04_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_main_group_1": {
+            "cls": "Box"
+        },
+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "papertowel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group_1": {
+            "cls": "ToasterOven"
+        },
+        "sink_right_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "stack_05_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_05_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_2_right_group_1": {
+            "cls": "Box"
+        },
+        "stack_07_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_07_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_07_right_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "cube_1_right_group_1": {
+            "cls": "Box"
+        },
+        "dishwasher_1_right_group_1": {
+            "cls": "Dishwasher"
+        },
+        "fridgefrenchdoor_left_group_2": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_left_group_2": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_1_left_group_2": {
+            "cls": "HingeCabinet"
+        },
+        "counter_3_front_group_1": {
+            "cls": "Counter"
+        },
+        "counter_5_front_group_1": {
+            "cls": "Counter"
+        },
+        "stack_12_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_12_front_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_12_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_13_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_13_front_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_13_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_13_front_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_14_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_14_front_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_14_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_15_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_15_front_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_15_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_11_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_11_front_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_11_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_4_front_group_1": {
+            "cls": "Box"
+        },
+        "cube_11_front_group_1": {
+            "cls": "Box"
+        },
+        "cube_5_front_group_1": {
+            "cls": "Box"
+        },
+        "dining_dining_area_group": {
+            "cls": "Counter"
+        },
+        "stack_10_dining_area_group_base": {
+            "cls": "Box"
+        },
+        "stack_10_dining_area_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_10_dining_area_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_09_dining_area_group_base": {
+            "cls": "Box"
+        },
+        "stack_09_dining_area_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_09_dining_area_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_08_dining_area_group_base": {
+            "cls": "Box"
+        },
+        "stack_08_dining_area_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_08_dining_area_group_2": {
+            "cls": "Drawer"
+        },
+        "cube_2_dining_area_group": {
+            "cls": "Box"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Pick up the butter stick and place it in the pan. Then turn on the burner for the pan.",
+    "fixture_refs": {
+        "stove": "stove_main_group_1",
+        "counter": "counter_2_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
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.6829863993355576,
+        -1.2331913468887288,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5706449309965886
+    ],
+    "refs": {
+        "knob": "front_right"
+    }
+}

pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000038/ep_meta.json

@@ -0,0 +1,451 @@
+{
+    "layout_id": 59,
+    "style_id": 34,
+    "object_cfgs": [
+        {
+            "name": "pan",
+            "obj_groups": "pan",
+            "placement": {
+                "fixture": "widestove_main_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "front_right"
+                    ]
+                },
+                "size": [
+                    0.05,
+                    0.05
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pan",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "pan"
+                ],
+                "cat": "pan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/pan/pan_2/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.26596531571105514,
+                    -0.12491630999507006,
+                    0.47018691497155635
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "front_right"
+            }
+        },
+        {
+            "name": "butter_container",
+            "obj_groups": "plate",
+            "placement": {
+                "fixture": "counter_3_main_group_1",
+                "size": [
+                    0.35,
+                    0.35
+                ],
+                "sample_region_kwargs": {
+                    "ref": "widestove_main_group_1",
+                    "loc": "left_right",
+                    "min_size": [
+                        0.23290678950000007,
+                        0.23449999650000009,
+                        0.013999999860000004
+                    ]
+                },
+                "pos": [
+                    "ref",
+                    -1.0
+                ],
+                "try_to_place_in": "plate"
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/plate/plate_2/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.061065,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "butter",
+            "obj_groups": "butter_stick",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.01,
+                    0.01
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "butter_container",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "butter_stick",
+                    "dairy",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "butter_stick"
+                ],
+                "cat": "butter_stick",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_2/model.xml"
+            }
+        }
+    ],
+    "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"
+        },
+        "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": {
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+        "widestove_main_group_1": {
+            "cls": "Stove"
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+        "widestove_hood_main_group_1": {
+            "cls": "Hood"
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+        "singlecabinet_03_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_02_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_01_main_group_1": {
+            "cls": "SingleCabinet"
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+        "singlecabinet_04_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "paper_towel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group_1": {
+            "cls": "ToasterOven"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Pick up the butter stick and place it in the pan. Then turn on the burner for the pan.",
+    "fixture_refs": {
+        "stove": "widestove_main_group_1",
+        "counter": "counter_3_main_group_1"
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+                0.35,
+                1.05
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+                0.29935253,
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+                "fovy": "60"
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+            "parent_body": "mobilebase0_support"
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+        "robot0_agentview_right": {
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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": [
+        3.4825299263599483,
+        -0.9880325014763665,
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+    "refs": {
+        "knob": "front_right"
+    }
+}

pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000039/ep_meta.json

@@ -0,0 +1,451 @@
+{
+    "layout_id": 14,
+    "style_id": 36,
+    "object_cfgs": [
+        {
+            "name": "pan",
+            "obj_groups": "pan",
+            "placement": {
+                "fixture": "stove_main_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
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+                        "rear_right"
+                    ]
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+                    0.05
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+            },
+            "type": "object",
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+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pan",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "pan"
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+                "cat": "pan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/pan/pan_3/model.xml"
+            },
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+                    0.1
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+                "name": "rear_right"
+            }
+        },
+        {
+            "name": "butter_container",
+            "obj_groups": "plate",
+            "placement": {
+                "fixture": "counter_1_main_group_1",
+                "size": [
+                    0.35,
+                    0.35
+                ],
+                "sample_region_kwargs": {
+                    "ref": "stove_main_group_1",
+                    "loc": "left_right",
+                    "min_size": [
+                        0.23290678950000007,
+                        0.23449999650000009,
+                        0.013999999860000004
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+                    -1.0
+                ],
+                "try_to_place_in": "plate"
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/plate/plate_2/model.xml"
+            },
+            "reset_region": {
+                "size": [
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+                    0.65
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+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
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+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "butter",
+            "obj_groups": "butter_stick",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.01,
+                    0.01
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "butter_container",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "butter_stick",
+                    "dairy",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "butter_stick"
+                ],
+                "cat": "butter_stick",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_2/model.xml"
+            }
+        }
+    ],
+    "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"
+        },
+        "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": "Pick up the butter stick and place it in the pan. Then turn on the burner for the pan.",
+    "fixture_refs": {
+        "stove": "stove_main_group_1",
+        "counter": "counter_1_main_group_1"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
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+                0.35,
+                1.05
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+            "parent_body": "mobilebase0_support"
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+        "robot0_agentview_right": {
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+            "parent_body": "mobilebase0_support"
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+        "robot0_eye_in_hand": {
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+            "parent_body": "robot0_right_hand"
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+    "init_robot_base_pos": [
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+        -0.8918153754493754,
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+        0.0,
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+        1.5707963267948966
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+    "refs": {
+        "knob": "rear_right"
+    }
+}

pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000040/ep_meta.json

@@ -0,0 +1,505 @@
+{
+    "layout_id": 28,
+    "style_id": 14,
+    "object_cfgs": [
+        {
+            "name": "pan",
+            "obj_groups": "pan",
+            "placement": {
+                "fixture": "stovetop_island_group",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "rear_right"
+                    ]
+                },
+                "size": [
+                    0.05,
+                    0.05
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+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pan",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "pan"
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+                "cat": "pan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/pan/pan_2/model.xml"
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+            }
+        },
+        {
+            "name": "butter_container",
+            "obj_groups": "plate",
+            "placement": {
+                "fixture": "counter_1_island_group",
+                "size": [
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+                    0.35
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+                "try_to_place_in": "plate"
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+            "info": {
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+                    "all",
+                    "plate",
+                    "receptacle",
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+                    "container_set2"
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+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/plate/plate_2/model.xml"
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+                "name": "geom_1"
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+            "obj_groups": "butter_stick",
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+            "placement": {
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+                "sample_args": {
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+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "butter_stick",
+                    "dairy",
+                    "food",
+                    "in_container"
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+                "groups": [
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+                "cat": "butter_stick",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_11/model.xml"
+            }
+        }
+    ],
+    "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"
+        },
+        "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": "Pick up the butter stick and place it in the pan. Then turn on the burner for the pan.",
+    "fixture_refs": {
+        "stove": "stovetop_island_group",
+        "counter": "counter_1_island_group"
+    },
+    "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": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
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+                1.05
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+                0.3767866790294647,
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+            "camera_attribs": {
+                "fovy": "60"
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+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
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+                0.95
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+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.104923900106191,
+        -1.7236572034371385,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -1.57079623937212
+    ],
+    "refs": {
+        "knob": "rear_right"
+    }
+}

pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000041/ep_meta.json

@@ -0,0 +1,538 @@
+{
+    "layout_id": 22,
+    "style_id": 24,
+    "object_cfgs": [
+        {
+            "name": "pan",
+            "obj_groups": "pan",
+            "placement": {
+                "fixture": "stovetop_dining_area_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "rear_left"
+                    ]
+                },
+                "size": [
+                    0.05,
+                    0.05
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pan",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "pan"
+                ],
+                "cat": "pan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/pan/pan_3/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.1960616465874109,
+                    0.1282580092769118,
+                    0.010299536306018318
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "rear_left"
+            }
+        },
+        {
+            "name": "butter_container",
+            "obj_groups": "plate",
+            "placement": {
+                "fixture": "dining_dining_area_group_1",
+                "size": [
+                    0.35,
+                    0.35
+                ],
+                "sample_region_kwargs": {
+                    "ref": "stovetop_dining_area_group_1",
+                    "loc": "left_right",
+                    "min_size": [
+                        0.23414749974000007,
+                        0.23450000112000008,
+                        0.031500000840000014
+                    ]
+                },
+                "pos": [
+                    "ref",
+                    -1.0
+                ],
+                "try_to_place_in": "plate"
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/plate/plate_0/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.7180878373000381,
+                    0.85
+                ],
+                "offset": [
+                    0.699956081349981,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "butter",
+            "obj_groups": "butter_stick",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.01,
+                    0.01
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "butter_container",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "butter_stick",
+                    "dairy",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "butter_stick"
+                ],
+                "cat": "butter_stick",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_2/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_front_1_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_backing_room": {
+            "cls": "Wall"
+        },
+        "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_main_3_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_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_4_room": {
+            "cls": "Wall"
+        },
+        "wall_main_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"
+        },
+        "floor_3_room": {
+            "cls": "Floor"
+        },
+        "floor_3_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_4_room": {
+            "cls": "Floor"
+        },
+        "floor_4_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_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"
+        },
+        "sink_1_left_group": {
+            "cls": "Sink"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_4_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_left_group": {
+            "cls": "Toaster"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_left_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_left_group": {
+            "cls": "Accessory"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "stovetop_dining_area_group_1": {
+            "cls": "Stovetop"
+        },
+        "dining_dining_area_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_dining_area_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_dining_area_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_dining_area_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_dining_area_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_dining_area_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_dining_area_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_dining_area_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_dining_area_group_1_2": {
+            "cls": "Drawer"
+        },
+        "dining_dining_area_group_2": {
+            "cls": "Counter"
+        },
+        "stack_1_dining_area_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_1_dining_area_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_dining_area_group_2_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_dining_area_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_2_dining_area_group_2_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_dining_area_group_2_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_dining_area_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_3_dining_area_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_dining_area_group_2_2": {
+            "cls": "Drawer"
+        },
+        "bottom_front_group_base": {
+            "cls": "Box"
+        },
+        "bottom_front_group_1": {
+            "cls": "Drawer"
+        },
+        "middle_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_front_group": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_front_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_front_group": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Pick up the butter stick and place it in the pan. Then turn on the burner for the pan.",
+    "fixture_refs": {
+        "stove": "stovetop_dining_area_group_1",
+        "counter": "dining_dining_area_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
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
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+            "parent_body": "mobilebase0_support"
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+        "robot0_eye_in_hand": {
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+            "quat": [
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+            "parent_body": "robot0_right_hand"
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+    "refs": {
+        "knob": "rear_left"
+    }
+}

pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000043/ep_meta.json

@@ -0,0 +1,433 @@
+{
+    "layout_id": 44,
+    "style_id": 17,
+    "object_cfgs": [
+        {
+            "name": "pan",
+            "obj_groups": "pan",
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+                "fixture": "stove_left_group_1",
+                "ensure_object_boundary_in_range": false,
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+                        "front_left"
+                    ]
+                },
+                "size": [
+                    0.05,
+                    0.05
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+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pan",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "pan"
+                ],
+                "cat": "pan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/pan/pan_2/model.xml"
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+                    0.1
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+                "name": "front_left"
+            }
+        },
+        {
+            "name": "butter_container",
+            "obj_groups": "plate",
+            "placement": {
+                "fixture": "counter_2_left_group_1",
+                "size": [
+                    0.35,
+                    0.35
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+                "sample_region_kwargs": {
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+                        0.23449999188000006,
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+                "try_to_place_in": "plate"
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/plate/plate_3/model.xml"
+            },
+            "reset_region": {
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+                    0.650008
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+                "offset": [
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+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "butter",
+            "obj_groups": "butter_stick",
+            "graspable": true,
+            "placement": {
+                "size": [
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+                    0.01
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+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "butter_container",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "butter_stick",
+                    "dairy",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "butter_stick"
+                ],
+                "cat": "butter_stick",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_10/model.xml"
+            }
+        }
+    ],
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+        "wall_main_1_room": {
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+        },
+        "wall_main_1_backing_room": {
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+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_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"
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+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
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+        "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"
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+        "cube_main_group_1": {
+            "cls": "Box"
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+        "singlecabinet_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
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+        "stack_1_main_group_1_base": {
+            "cls": "Box"
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+        "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"
+        },
+        "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": "Pick up the butter stick and place it in the pan. Then turn on the burner for the pan.",
+    "fixture_refs": {
+        "stove": "stove_left_group_1",
+        "counter": "counter_2_left_group_1"
+    },
+    "cam_configs": {
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+                0.35,
+                1.05
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+                0.29935253,
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+            "parent_body": "mobilebase0_support"
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+        "robot0_agentview_right": {
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+            },
+            "parent_body": "mobilebase0_support"
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+        "robot0_eye_in_hand": {
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+                0
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+            "quat": [
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+                0.707107,
+                0.707107,
+                0
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+            "parent_body": "robot0_right_hand"
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+    "init_robot_base_pos": [
+        2.6078640920499376,
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+    "init_robot_base_ori": [
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+    "refs": {
+        "knob": "front_left"
+    }
+}

pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000044/ep_meta.json

@@ -0,0 +1,574 @@
+{
+    "layout_id": 29,
+    "style_id": 50,
+    "object_cfgs": [
+        {
+            "name": "pan",
+            "obj_groups": "pan",
+            "placement": {
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+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "rear_right"
+                    ]
+                },
+                "size": [
+                    0.05,
+                    0.05
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pan",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "pan"
+                ],
+                "cat": "pan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/pan/pan_3/model.xml"
+            },
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+            }
+        },
+        {
+            "name": "butter_container",
+            "obj_groups": "plate",
+            "placement": {
+                "fixture": "counter_1_left_group",
+                "size": [
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+                    0.35
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+                "try_to_place_in": "plate"
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+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
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+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/plate/plate_2/model.xml"
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+            "placement": {
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+                "sample_args": {
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+                    "on_top": true
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+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
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+                "cat": "butter_stick",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_0/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
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+        "wall_main_1_backing_room": {
+            "cls": "Wall"
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+        "wall_left_4_room": {
+            "cls": "Wall"
+        },
+        "wall_left_4_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
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+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_room": {
+            "cls": "Wall"
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+        "wall_left_1_backing_room": {
+            "cls": "Wall"
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+        "wall_left_3_room": {
+            "cls": "Wall"
+        },
+        "wall_left_3_backing_room": {
+            "cls": "Wall"
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+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_backing_room": {
+            "cls": "Wall"
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+        "wall_main_2_room": {
+            "cls": "Wall"
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+        "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"
+        },
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+            "cls": "HingeCabinet"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "stovetop_left_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "PanelCabinet"
+        },
+        "stack_4_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_5_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_left_group_3": {
+            "cls": "Drawer"
+        },
+        "hood_left_group": {
+            "cls": "Hood"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_4_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_left_group": {
+            "cls": "Toaster"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "panel_box_1_island_group_base": {
+            "cls": "Box"
+        },
+        "panel_box_1_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_island_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_island_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_5_island_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_island_group_3": {
+            "cls": "Drawer"
+        },
+        "panel_cab_2_island_group_base": {
+            "cls": "Box"
+        },
+        "panel_cab_2_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "box_island_group": {
+            "cls": "Box"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Pick up the butter stick and place it in the pan. Then turn on the burner for the pan.",
+    "fixture_refs": {
+        "stove": "stovetop_left_group",
+        "counter": "counter_1_left_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
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+                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
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+            "parent_body": "mobilebase0_support"
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+        "robot0_agentview_right": {
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+        "robot0_eye_in_hand": {
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+                0.05,
+                0,
+                0
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+            "quat": [
+                0,
+                0.707107,
+                0.707107,
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+            "parent_body": "robot0_right_hand"
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+    "init_robot_base_pos": [
+        0.14532238695547064,
+        -4.322440892349827,
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+        0.0,
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+        3.1415926193612504
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+    "refs": {
+        "knob": "rear_right"
+    }
+}

pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000045/ep_meta.json

@@ -0,0 +1,433 @@
+{
+    "layout_id": 44,
+    "style_id": 30,
+    "object_cfgs": [
+        {
+            "name": "pan",
+            "obj_groups": "pan",
+            "placement": {
+                "fixture": "stove_left_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "front_left"
+                    ]
+                },
+                "size": [
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+                    0.05
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+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pan",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "pan"
+                ],
+                "cat": "pan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/pan/pan_2/model.xml"
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+            }
+        },
+        {
+            "name": "butter_container",
+            "obj_groups": "plate",
+            "placement": {
+                "fixture": "counter_1_left_group_1",
+                "size": [
+                    0.35,
+                    0.35
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+                "sample_region_kwargs": {
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+                    "loc": "left_right",
+                    "min_size": [
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+                        0.23450000112000008,
+                        0.031500000840000014
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+                "try_to_place_in": "plate"
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+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/plate/plate_0/model.xml"
+            },
+            "reset_region": {
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+                    0.650008
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+                "offset": [
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+                    0.0,
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+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "butter",
+            "obj_groups": "butter_stick",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.01,
+                    0.01
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+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "butter_container",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "butter_stick",
+                    "dairy",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "butter_stick"
+                ],
+                "cat": "butter_stick",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_3/model.xml"
+            }
+        }
+    ],
+    "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"
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+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory.001_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.005_room": {
+            "cls": "WallAccessory"
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+        "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"
+        },
+        "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": "Pick up the butter stick and place it in the pan. Then turn on the burner for the pan.",
+    "fixture_refs": {
+        "stove": "stove_left_group_1",
+        "counter": "counter_1_left_group_1"
+    },
+    "cam_configs": {
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+                0.35,
+                1.05
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+            "parent_body": "mobilebase0_support"
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+        "robot0_eye_in_hand": {
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+                0.707107,
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+            "parent_body": "robot0_right_hand"
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+    "init_robot_base_pos": [
+        2.583710636398476,
+        -1.579602600312993,
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+    "refs": {
+        "knob": "front_left"
+    }
+}

pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000046/ep_meta.json

@@ -0,0 +1,532 @@
+{
+    "layout_id": 24,
+    "style_id": 20,
+    "object_cfgs": [
+        {
+            "name": "pan",
+            "obj_groups": "pan",
+            "placement": {
+                "fixture": "stove_main_group",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "rear_left"
+                    ]
+                },
+                "size": [
+                    0.05,
+                    0.05
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pan",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "pan"
+                ],
+                "cat": "pan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/pan/pan_2/model.xml"
+            },
+            "reset_region": {
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+            }
+        },
+        {
+            "name": "butter_container",
+            "obj_groups": "plate",
+            "placement": {
+                "fixture": "counter_2_main_group",
+                "size": [
+                    0.35,
+                    0.35
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+                "try_to_place_in": "plate"
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+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
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+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/plate/plate_1/model.xml"
+            },
+            "reset_region": {
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+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "butter",
+            "obj_groups": "butter_stick",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.01,
+                    0.01
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "butter_container",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "butter_stick",
+                    "dairy",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "butter_stick"
+                ],
+                "cat": "butter_stick",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_11/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_5_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_6_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "window_group_2_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_2_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "dishwasher_main_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_5": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_6": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_7_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_7_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_7_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_7_main_group_3": {
+            "cls": "Drawer"
+        },
+        "wall_stack_main_group_base": {
+            "cls": "Box"
+        },
+        "wall_stack_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "wall_stack_main_group_2": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_4_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_5_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_6_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_cabinet_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "sink_1_island_group_1": {
+            "cls": "Sink"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "box_island_group_1": {
+            "cls": "Box"
+        },
+        "panel_box_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "panel_box_1_island_group_1_1": {
+            "cls": "PanelCabinet"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_island_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_4_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_5_island_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_5_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_island_group_1_3": {
+            "cls": "Drawer"
+        },
+        "plant_island_group_1": {
+            "cls": "Accessory"
+        },
+        "stack_1_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_2_1": {
+            "cls": "SingleCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Pick up the butter stick and place it in the pan. Then turn on the burner for the pan.",
+    "fixture_refs": {
+        "stove": "stove_main_group",
+        "counter": "counter_2_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": [
+        4.329697089970469,
+        -0.907336993747614,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ],
+    "refs": {
+        "knob": "rear_left"
+    }
+}

pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000047/ep_meta.json

@@ -0,0 +1,493 @@
+{
+    "layout_id": 26,
+    "style_id": 44,
+    "object_cfgs": [
+        {
+            "name": "pan",
+            "obj_groups": "pan",
+            "placement": {
+                "fixture": "stove_main_group",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "front_right"
+                    ]
+                },
+                "size": [
+                    0.05,
+                    0.05
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pan",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "pan"
+                ],
+                "cat": "pan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/pan/pan_2/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.1593645531319272,
+                    -0.09422443449506909,
+                    0.4519895418255599
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "front_right"
+            }
+        },
+        {
+            "name": "butter_container",
+            "obj_groups": "plate",
+            "placement": {
+                "fixture": "counter_2_main_group",
+                "size": [
+                    0.35,
+                    0.35
+                ],
+                "sample_region_kwargs": {
+                    "ref": "stove_main_group",
+                    "loc": "left_right",
+                    "min_size": [
+                        0.23290678950000007,
+                        0.23449999650000009,
+                        0.013999999860000004
+                    ]
+                },
+                "pos": [
+                    "ref",
+                    -1.0
+                ],
+                "try_to_place_in": "plate"
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/plate/plate_2/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.78,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "butter",
+            "obj_groups": "butter_stick",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.01,
+                    0.01
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "butter_container",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "butter_stick",
+                    "dairy",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "butter_stick"
+                ],
+                "cat": "butter_stick",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_10/model.xml"
+            }
+        }
+    ],
+    "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"
+        },
+        "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"
+        },
+        "box_2_island_group": {
+            "cls": "Box"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Pick up the butter stick and place it in the pan. Then turn on the burner for the pan.",
+    "fixture_refs": {
+        "stove": "stove_main_group",
+        "counter": "counter_2_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
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+                1.15
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+            "parent_body": "mobilebase0_support"
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+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
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+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
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+                "fovy": "60"
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+            "parent_body": "mobilebase0_support"
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+        "robot0_frontview": {
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+                -0.5,
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+                0.95
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+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
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+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.055849641371025,
+        -0.8735064658602929,
+        0.0
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+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ],
+    "refs": {
+        "knob": "front_right"
+    }
+}

pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000050/ep_meta.json

@@ -0,0 +1,451 @@
+{
+    "layout_id": 14,
+    "style_id": 22,
+    "object_cfgs": [
+        {
+            "name": "pan",
+            "obj_groups": "pan",
+            "placement": {
+                "fixture": "stove_main_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "front_right"
+                    ]
+                },
+                "size": [
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+                    0.05
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pan",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "pan"
+                ],
+                "cat": "pan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/pan/pan_3/model.xml"
+            },
+            "reset_region": {
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+                "size": [
+                    0.1,
+                    0.1
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+                "name": "front_right"
+            }
+        },
+        {
+            "name": "butter_container",
+            "obj_groups": "plate",
+            "placement": {
+                "fixture": "counter_2_main_group_1",
+                "size": [
+                    0.35,
+                    0.35
+                ],
+                "sample_region_kwargs": {
+                    "ref": "stove_main_group_1",
+                    "loc": "left_right",
+                    "min_size": [
+                        0.23414749974000007,
+                        0.23450000112000008,
+                        0.031500000840000014
+                    ]
+                },
+                "pos": [
+                    "ref",
+                    -1.0
+                ],
+                "try_to_place_in": "plate"
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/plate/plate_0/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.085,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "butter",
+            "obj_groups": "butter_stick",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.01,
+                    0.01
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "butter_container",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "butter_stick",
+                    "dairy",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "butter_stick"
+                ],
+                "cat": "butter_stick",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_3/model.xml"
+            }
+        }
+    ],
+    "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"
+        },
+        "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": "Pick up the butter stick and place it in the pan. Then turn on the burner for the pan.",
+    "fixture_refs": {
+        "stove": "stove_main_group_1",
+        "counter": "counter_2_main_group_1"
+    },
+    "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": {
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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": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
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+                1.05
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+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
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+                -0.5,
+                0,
+                0.95
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
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+                0,
+                0
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+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
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+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.8988493949354512,
+        -0.8795995680326618,
+        0.0
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+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ],
+    "refs": {
+        "knob": "front_right"
+    }
+}

pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000051/ep_meta.json

@@ -0,0 +1,472 @@
+{
+    "layout_id": 30,
+    "style_id": 32,
+    "object_cfgs": [
+        {
+            "name": "pan",
+            "obj_groups": "pan",
+            "placement": {
+                "fixture": "stove_left_group",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "rear_left"
+                    ]
+                },
+                "size": [
+                    0.05,
+                    0.05
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pan",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "pan"
+                ],
+                "cat": "pan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/pan/pan_2/model.xml"
+            },
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+                "name": "rear_left"
+            }
+        },
+        {
+            "name": "butter_container",
+            "obj_groups": "plate",
+            "placement": {
+                "fixture": "counter_2_left_group",
+                "size": [
+                    0.35,
+                    0.35
+                ],
+                "sample_region_kwargs": {
+                    "ref": "stove_left_group",
+                    "loc": "left_right",
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+                        0.23449999650000009,
+                        0.024499998600000007
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+                    -1.0
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+                "try_to_place_in": "plate"
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/plate/plate_1/model.xml"
+            },
+            "reset_region": {
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+                    2.4,
+                    0.65
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+                "offset": [
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+                    0.46
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+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "butter",
+            "obj_groups": "butter_stick",
+            "graspable": true,
+            "placement": {
+                "size": [
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+                    0.01
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+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "butter_container",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "butter_stick",
+                    "dairy",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "butter_stick"
+                ],
+                "cat": "butter_stick",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_0/model.xml"
+            }
+        }
+    ],
+    "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"
+        },
+        "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"
+        },
+        "ligh_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_4_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_5_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "window_group_2_room": {
+            "cls": "Window"
+        },
+        "window_group_3_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_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": "Drawer"
+        },
+        "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"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_4_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_5_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_6_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_left_group": {
+            "cls": "Accessory"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "box_right_group": {
+            "cls": "Box"
+        },
+        "cab_1_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        },
+        "dining_front_group": {
+            "cls": "Counter"
+        },
+        "box_front_group": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_front_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_front_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_front_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_front_group_4": {
+            "cls": "Drawer"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Pick up the butter stick and place it in the pan. Then turn on the burner for the pan.",
+    "fixture_refs": {
+        "stove": "stove_left_group",
+        "counter": "counter_2_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": [
+        0.8823604306214846,
+        -2.4340151176395253,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415926193612504
+    ],
+    "refs": {
+        "knob": "rear_left"
+    }
+}

pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000052/ep_meta.json

@@ -0,0 +1,478 @@
+{
+    "layout_id": 48,
+    "style_id": 31,
+    "object_cfgs": [
+        {
+            "name": "pan",
+            "obj_groups": "pan",
+            "placement": {
+                "fixture": "widestove_main_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "front_left"
+                    ]
+                },
+                "size": [
+                    0.05,
+                    0.05
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pan",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "pan"
+                ],
+                "cat": "pan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/pan/pan_3/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.28911358575882123,
+                    -0.09280529924552389,
+                    0.4430062249049935
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "front_left"
+            }
+        },
+        {
+            "name": "butter_container",
+            "obj_groups": "plate",
+            "placement": {
+                "fixture": "counter_1_main_group_1",
+                "size": [
+                    0.35,
+                    0.35
+                ],
+                "sample_region_kwargs": {
+                    "ref": "widestove_main_group_1",
+                    "loc": "left_right",
+                    "min_size": [
+                        0.2359663752600001,
+                        0.23449999188000006,
+                        0.03499999965
+                    ]
+                },
+                "pos": [
+                    "ref",
+                    -1.0
+                ],
+                "try_to_place_in": "plate"
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/plate/plate_3/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.548855,
+                    0.650004
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "butter",
+            "obj_groups": "butter_stick",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.01,
+                    0.01
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "butter_container",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "butter_stick",
+                    "dairy",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "butter_stick"
+                ],
+                "cat": "butter_stick",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_2/model.xml"
+            }
+        }
+    ],
+    "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"
+        },
+        "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"
+        },
+        "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": "Pick up the butter stick and place it in the pan. Then turn on the burner for the pan.",
+    "fixture_refs": {
+        "stove": "widestove_main_group_1",
+        "counter": "counter_1_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
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.9233788732058423,
+        -1.0655781916892646,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5706378976484208
+    ],
+    "refs": {
+        "knob": "front_left"
+    }
+}

pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000054/ep_meta.json

@@ -0,0 +1,445 @@
+{
+    "layout_id": 36,
+    "style_id": 23,
+    "object_cfgs": [
+        {
+            "name": "pan",
+            "obj_groups": "pan",
+            "placement": {
+                "fixture": "stove_right_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "rear_left"
+                    ]
+                },
+                "size": [
+                    0.05,
+                    0.05
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pan",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "pan"
+                ],
+                "cat": "pan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/pan/pan_2/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.152314520534465,
+                    0.1282717267511925,
+                    0.3066376428402726
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "rear_left"
+            }
+        },
+        {
+            "name": "butter_container",
+            "obj_groups": "plate",
+            "placement": {
+                "fixture": "counter_2_right_group_1",
+                "size": [
+                    0.35,
+                    0.35
+                ],
+                "sample_region_kwargs": {
+                    "ref": "stove_right_group_1",
+                    "loc": "left_right",
+                    "min_size": [
+                        0.2359663752600001,
+                        0.23449999188000006,
+                        0.03499999965
+                    ]
+                },
+                "pos": [
+                    "ref",
+                    -1.0
+                ],
+                "try_to_place_in": "plate"
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/plate/plate_3/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.05,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "butter",
+            "obj_groups": "butter_stick",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.01,
+                    0.01
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "butter_container",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "butter_stick",
+                    "dairy",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "butter_stick"
+                ],
+                "cat": "butter_stick",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_0/model.xml"
+            }
+        }
+    ],
+    "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"
+        },
+        "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": "Pick up the butter stick and place it in the pan. Then turn on the burner for the pan.",
+    "fixture_refs": {
+        "stove": "stove_right_group_1",
+        "counter": "counter_2_right_group_1"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
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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": {
+                "fovy": "60"
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+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
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+            "parent_body": "mobilebase0_support"
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+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
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+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
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+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.151956010437342,
+        -1.5397126270134633,
+        0.0
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+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        0.00030199704781619374
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+    "refs": {
+        "knob": "rear_left"
+    }
+}

pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000055/ep_meta.json

@@ -0,0 +1,442 @@
+{
+    "layout_id": 58,
+    "style_id": 36,
+    "object_cfgs": [
+        {
+            "name": "pan",
+            "obj_groups": "pan",
+            "placement": {
+                "fixture": "stove_island_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "front_right"
+                    ]
+                },
+                "size": [
+                    0.05,
+                    0.05
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pan",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "pan"
+                ],
+                "cat": "pan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/pan/pan_3/model.xml"
+            },
+            "reset_region": {
+                "offset": [
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+                    -0.0996524021700794,
+                    0.48370738282279596
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+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "front_right"
+            }
+        },
+        {
+            "name": "butter_container",
+            "obj_groups": "plate",
+            "placement": {
+                "fixture": "island_2_island_group_1",
+                "size": [
+                    0.35,
+                    0.35
+                ],
+                "sample_region_kwargs": {
+                    "ref": "stove_island_group_1",
+                    "loc": "left_right",
+                    "min_size": [
+                        0.2359663752600001,
+                        0.23449999188000006,
+                        0.03499999965
+                    ]
+                },
+                "pos": [
+                    "ref",
+                    -1.0
+                ],
+                "try_to_place_in": "plate"
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/plate/plate_3/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.911556,
+                    0.911783
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "butter",
+            "obj_groups": "butter_stick",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.01,
+                    0.01
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "butter_container",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "butter_stick",
+                    "dairy",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "butter_stick"
+                ],
+                "cat": "butter_stick",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_12/model.xml"
+            }
+        }
+    ],
+    "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"
+        },
+        "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"
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+        "stack_07_island_group_1_3": {
+            "cls": "Drawer"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
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+        "cube_2_island_group_1": {
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+        "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": "Pick up the butter stick and place it in the pan. Then turn on the burner for the pan.",
+    "fixture_refs": {
+        "stove": "stove_island_group_1",
+        "counter": "island_2_island_group_1"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
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+                1.05
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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": [
+        3.7201786372764336,
+        -2.1656589493485363,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        4.7122376720160215
+    ],
+    "refs": {
+        "knob": "front_right"
+    }
+}

pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000057/ep_meta.json

@@ -0,0 +1,529 @@
+{
+    "layout_id": 43,
+    "style_id": 43,
+    "object_cfgs": [
+        {
+            "name": "pan",
+            "obj_groups": "pan",
+            "placement": {
+                "fixture": "stove_main_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "front_left"
+                    ]
+                },
+                "size": [
+                    0.05,
+                    0.05
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pan",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "pan"
+                ],
+                "cat": "pan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/pan/pan_2/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.16646512280112433,
+                    -0.09055386345125134,
+                    0.4619347540804282
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "front_left"
+            }
+        },
+        {
+            "name": "butter_container",
+            "obj_groups": "plate",
+            "placement": {
+                "fixture": "counter_1_main_group_1",
+                "size": [
+                    0.35,
+                    0.35
+                ],
+                "sample_region_kwargs": {
+                    "ref": "stove_main_group_1",
+                    "loc": "left_right",
+                    "min_size": [
+                        0.23488067988000005,
+                        0.23449999650000009,
+                        0.024499998600000007
+                    ]
+                },
+                "pos": [
+                    "ref",
+                    -1.0
+                ],
+                "try_to_place_in": "plate"
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/plate/plate_1/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.051177,
+                    0.650008
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "butter",
+            "obj_groups": "butter_stick",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.01,
+                    0.01
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "butter_container",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "butter_stick",
+                    "dairy",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "butter_stick"
+                ],
+                "cat": "butter_stick",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_12/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_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"
+        },
+        "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": {
+            "cls": "Hood"
+        },
+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cube_1_main_group_1": {
+            "cls": "Box"
+        },
+        "hingecabinet_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cube_2_main_group_1": {
+            "cls": "Box"
+        },
+        "coffeemachine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "papertowel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "plant_main_group_1": {
+            "cls": "Accessory"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "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_3_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_3_main_group_1": {
+            "cls": "Box"
+        },
+        "cube_4_main_group_1": {
+            "cls": "Box"
+        },
+        "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"
+        },
+        "cube_1_front_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_front_group_1": {
+            "cls": "Box"
+        },
+        "stack_2_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_front_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "singlecabinet_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "hingecabinet_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "opencabinet_1_right_group_1": {
+            "cls": "OpenCabinet"
+        },
+        "cube_1_right_group_1": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_1": {
+            "cls": "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": "Pick up the butter stick and place it in the pan. Then turn on the burner for the pan.",
+    "fixture_refs": {
+        "stove": "stove_main_group_1",
+        "counter": "counter_1_main_group_1"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
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+            "quat": [
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+                0.3325185477733612,
+                -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
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
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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": [
+        3.7400169765676794,
+        -0.9034345745102654,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ],
+    "refs": {
+        "knob": "front_left"
+    }
+}

pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000058/ep_meta.json

@@ -0,0 +1,451 @@
+{
+    "layout_id": 59,
+    "style_id": 59,
+    "object_cfgs": [
+        {
+            "name": "pan",
+            "obj_groups": "pan",
+            "placement": {
+                "fixture": "widestove_main_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "front_center"
+                    ]
+                },
+                "size": [
+                    0.05,
+                    0.05
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pan",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "pan"
+                ],
+                "cat": "pan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/pan/pan_2/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.004914930787441105,
+                    -0.12553276189510654,
+                    0.47018691497155635
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "front_center"
+            }
+        },
+        {
+            "name": "butter_container",
+            "obj_groups": "plate",
+            "placement": {
+                "fixture": "counter_2_main_group_1",
+                "size": [
+                    0.35,
+                    0.35
+                ],
+                "sample_region_kwargs": {
+                    "ref": "widestove_main_group_1",
+                    "loc": "left_right",
+                    "min_size": [
+                        0.23414749974000007,
+                        0.23450000112000008,
+                        0.031500000840000014
+                    ]
+                },
+                "pos": [
+                    "ref",
+                    -1.0
+                ],
+                "try_to_place_in": "plate"
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/plate/plate_0/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.061065,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "butter",
+            "obj_groups": "butter_stick",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.01,
+                    0.01
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "butter_container",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "butter_stick",
+                    "dairy",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "butter_stick"
+                ],
+                "cat": "butter_stick",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_2/model.xml"
+            }
+        }
+    ],
+    "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"
+        },
+        "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": "Pick up the butter stick and place it in the pan. Then turn on the burner for the pan.",
+    "fixture_refs": {
+        "stove": "widestove_main_group_1",
+        "counter": "counter_2_main_group_1"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
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+                1.15
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+                0.35,
+                1.05
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+                0.29935253,
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+        "robot0_eye_in_hand": {
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+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
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+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.403605765144354,
+        -1.0205806688124925,
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+        0.0,
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+        "knob": "front_center"
+    }
+}

pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000059/ep_meta.json

@@ -0,0 +1,529 @@
+{
+    "layout_id": 43,
+    "style_id": 26,
+    "object_cfgs": [
+        {
+            "name": "pan",
+            "obj_groups": "pan",
+            "placement": {
+                "fixture": "stove_main_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "front_left"
+                    ]
+                },
+                "size": [
+                    0.05,
+                    0.05
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pan",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "pan"
+                ],
+                "cat": "pan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/pan/pan_3/model.xml"
+            },
+            "reset_region": {
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+                    -0.09055386345125134,
+                    0.4619347540804282
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+                "size": [
+                    0.1,
+                    0.1
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+                "name": "front_left"
+            }
+        },
+        {
+            "name": "butter_container",
+            "obj_groups": "plate",
+            "placement": {
+                "fixture": "counter_2_main_group_1",
+                "size": [
+                    0.35,
+                    0.35
+                ],
+                "sample_region_kwargs": {
+                    "ref": "stove_main_group_1",
+                    "loc": "left_right",
+                    "min_size": [
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+                        0.23450000112000008,
+                        0.031500000840000014
+                    ]
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+                "pos": [
+                    "ref",
+                    -1.0
+                ],
+                "try_to_place_in": "plate"
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/plate/plate_0/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.189956,
+                    0.650008
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+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
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+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "butter",
+            "obj_groups": "butter_stick",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.01,
+                    0.01
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "butter_container",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "butter_stick",
+                    "dairy",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "butter_stick"
+                ],
+                "cat": "butter_stick",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_11/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_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"
+        },
+        "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": {
+            "cls": "Hood"
+        },
+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cube_1_main_group_1": {
+            "cls": "Box"
+        },
+        "hingecabinet_2_main_group_1": {
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+        },
+        "cube_2_main_group_1": {
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+        "coffeemachine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "papertowel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "plant_main_group_1": {
+            "cls": "Accessory"
+        },
+        "stack_1_main_group_1_base": {
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+        "stack_1_main_group_1_1": {
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+        },
+        "stack_2_main_group_1_base": {
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+        },
+        "stack_2_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1_1": {
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+        },
+        "cube_3_main_group_1": {
+            "cls": "Box"
+        },
+        "cube_4_main_group_1": {
+            "cls": "Box"
+        },
+        "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"
+        },
+        "cube_1_front_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_front_group_1": {
+            "cls": "Box"
+        },
+        "stack_2_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_front_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "singlecabinet_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "hingecabinet_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "opencabinet_1_right_group_1": {
+            "cls": "OpenCabinet"
+        },
+        "cube_1_right_group_1": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_1": {
+            "cls": "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"
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+        "stack_2_left_group_1_base": {
+            "cls": "Box"
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+        "stack_2_left_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_1_base": {
+            "cls": "Box"
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+        "stack_1_left_group_1_1": {
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+        "stack_1_left_group_1_2": {
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+    "gen_textures": {},
+    "lang": "Pick up the butter stick and place it in the pan. Then turn on the burner for the pan.",
+    "fixture_refs": {
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+        1.5707963267948966
+    ],
+    "refs": {
+        "knob": "front_left"
+    }
+}

pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000061/ep_meta.json

@@ -0,0 +1,529 @@
+{
+    "layout_id": 56,
+    "style_id": 44,
+    "object_cfgs": [
+        {
+            "name": "pan",
+            "obj_groups": "pan",
+            "placement": {
+                "fixture": "stove_main_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "front_right"
+                    ]
+                },
+                "size": [
+                    0.05,
+                    0.05
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pan",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "pan"
+                ],
+                "cat": "pan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/pan/pan_2/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.2916615216145007,
+                    -0.15171985178784506,
+                    0.45524094270582643
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "front_right"
+            }
+        },
+        {
+            "name": "butter_container",
+            "obj_groups": "plate",
+            "placement": {
+                "fixture": "counter_2_main_group_1",
+                "size": [
+                    0.35,
+                    0.35
+                ],
+                "sample_region_kwargs": {
+                    "ref": "stove_main_group_1",
+                    "loc": "left_right",
+                    "min_size": [
+                        0.23414749974000007,
+                        0.23450000112000008,
+                        0.031500000840000014
+                    ]
+                },
+                "pos": [
+                    "ref",
+                    -1.0
+                ],
+                "try_to_place_in": "plate"
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/plate/plate_0/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.579347,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "butter",
+            "obj_groups": "butter_stick",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.01,
+                    0.01
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "butter_container",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "butter_stick",
+                    "dairy",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "butter_stick"
+                ],
+                "cat": "butter_stick",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_3/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_02_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_03_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stack_13_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_13_island_group_2_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_04_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_04_island_group_2_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_12_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_12_island_group_2_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "hingecabinet_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "opencabinet_2_main_group_1": {
+            "cls": "OpenCabinet"
+        },
+        "opencabinet_3_main_group_1": {
+            "cls": "OpenCabinet"
+        },
+        "counter_2_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_3_main_group_1": {
+            "cls": "Counter"
+        },
+        "stove_main_group_1": {
+            "cls": "Stove"
+        },
+        "stove_hood_main_group_1": {
+            "cls": "Hood"
+        },
+        "cube_4_main_group_1": {
+            "cls": "Box"
+        },
+        "stack_11_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_11_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_03_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_03_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_03_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_02_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_02_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_04_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_04_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_04_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_04_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_08_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_08_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_08_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_06_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_06_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_07_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_07_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_07_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_07_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "cube_8_main_group_1": {
+            "cls": "Box"
+        },
+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "papertowel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "plant_main_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group_1": {
+            "cls": "ToasterOven"
+        },
+        "singlecabinet_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "hingecabinet_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_9_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "counter_8_right_group_1": {
+            "cls": "Counter"
+        },
+        "stack_6_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_6_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_right_group_1_2": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_11_right_group_1": {
+            "cls": "Box"
+        },
+        "stack_7_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_7_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_7_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_12_right_group_1": {
+            "cls": "Box"
+        },
+        "fridgefrenchdoor_right_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "bottom_right_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "oven_cabinet_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_right_group_1": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "sink_island_group_1": {
+            "cls": "Sink"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "stack_11_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_11_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_11_island_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_09_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_09_island_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_09_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_09_island_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_10_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_10_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_10_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "dishwasher_1_island_group_1": {
+            "cls": "Dishwasher"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_island_group_1": {
+            "cls": "Box"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Pick up the butter stick and place it in the pan. Then turn on the burner for the pan.",
+    "fixture_refs": {
+        "stove": "stove_main_group_1",
+        "counter": "counter_2_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
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.1108796362291447,
+        -0.9463037189053292,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.57064844767067
+    ],
+    "refs": {
+        "knob": "front_right"
+    }
+}

pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000062/ep_meta.json

@@ -0,0 +1,502 @@
+{
+    "layout_id": 51,
+    "style_id": 19,
+    "object_cfgs": [
+        {
+            "name": "pan",
+            "obj_groups": "pan",
+            "placement": {
+                "fixture": "stove_main_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "front_right"
+                    ]
+                },
+                "size": [
+                    0.05,
+                    0.05
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pan",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "pan"
+                ],
+                "cat": "pan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/pan/pan_2/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.1728141384636687,
+                    -0.08637226381397044,
+                    0.39483243421698316
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "front_right"
+            }
+        },
+        {
+            "name": "butter_container",
+            "obj_groups": "plate",
+            "placement": {
+                "fixture": "counter_2_main_group_1",
+                "size": [
+                    0.35,
+                    0.35
+                ],
+                "sample_region_kwargs": {
+                    "ref": "stove_main_group_1",
+                    "loc": "left_right",
+                    "min_size": [
+                        0.23290678950000007,
+                        0.23449999650000009,
+                        0.013999999860000004
+                    ]
+                },
+                "pos": [
+                    "ref",
+                    -1.0
+                ],
+                "try_to_place_in": "plate"
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/plate/plate_2/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.3597667534549256,
+                    0.65
+                ],
+                "offset": [
+                    0.9079176232725377,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "butter",
+            "obj_groups": "butter_stick",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.01,
+                    0.01
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "butter_container",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "butter_stick",
+                    "dairy",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "butter_stick"
+                ],
+                "cat": "butter_stick",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_3/model.xml"
+            }
+        }
+    ],
+    "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"
+        },
+        "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": "Pick up the butter stick and place it in the pan. Then turn on the burner for the pan.",
+    "fixture_refs": {
+        "stove": "stove_main_group_1",
+        "counter": "counter_2_main_group_1"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
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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": [
+                0.55623853,
+                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": {
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+                -0.5,
+                0,
+                0.95
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+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        6.314054456585207,
+        -0.8575888899889093,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.57064844767067
+    ],
+    "refs": {
+        "knob": "front_right"
+    }
+}

pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000063/ep_meta.json

@@ -0,0 +1,505 @@
+{
+    "layout_id": 28,
+    "style_id": 46,
+    "object_cfgs": [
+        {
+            "name": "pan",
+            "obj_groups": "pan",
+            "placement": {
+                "fixture": "stovetop_island_group",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "front_center"
+                    ]
+                },
+                "size": [
+                    0.05,
+                    0.05
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pan",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "pan"
+                ],
+                "cat": "pan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/pan/pan_2/model.xml"
+            },
+            "reset_region": {
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+                    0.022934635332920957
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+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "front_center"
+            }
+        },
+        {
+            "name": "butter_container",
+            "obj_groups": "plate",
+            "placement": {
+                "fixture": "counter_1_island_group",
+                "size": [
+                    0.35,
+                    0.35
+                ],
+                "sample_region_kwargs": {
+                    "ref": "stovetop_island_group",
+                    "loc": "left_right",
+                    "min_size": [
+                        0.23488067988000005,
+                        0.23449999650000009,
+                        0.024499998600000007
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+                "pos": [
+                    "ref",
+                    -1.0
+                ],
+                "try_to_place_in": "plate"
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/plate/plate_1/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.4289948858441017,
+                    0.65
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+                "offset": [
+                    -1.154502557077949,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "butter",
+            "obj_groups": "butter_stick",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.01,
+                    0.01
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "butter_container",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "butter_stick",
+                    "dairy",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "butter_stick"
+                ],
+                "cat": "butter_stick",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_10/model.xml"
+            }
+        }
+    ],
+    "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"
+        },
+        "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": "Pick up the butter stick and place it in the pan. Then turn on the burner for the pan.",
+    "fixture_refs": {
+        "stove": "stovetop_island_group",
+        "counter": "counter_1_island_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
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+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "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
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+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.238495467923548,
+        -1.712833693152557,
+        0.0
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+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -1.57079623937212
+    ],
+    "refs": {
+        "knob": "front_center"
+    }
+}

pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000065/ep_meta.json

@@ -0,0 +1,502 @@
+{
+    "layout_id": 51,
+    "style_id": 21,
+    "object_cfgs": [
+        {
+            "name": "pan",
+            "obj_groups": "pan",
+            "placement": {
+                "fixture": "stove_main_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "rear_right"
+                    ]
+                },
+                "size": [
+                    0.05,
+                    0.05
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pan",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "pan"
+                ],
+                "cat": "pan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/pan/pan_3/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.1763172679128117,
+                    0.1573408155818936,
+                    0.4799969710344246
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "rear_right"
+            }
+        },
+        {
+            "name": "butter_container",
+            "obj_groups": "plate",
+            "placement": {
+                "fixture": "counter_2_main_group_1",
+                "size": [
+                    0.35,
+                    0.35
+                ],
+                "sample_region_kwargs": {
+                    "ref": "stove_main_group_1",
+                    "loc": "left_right",
+                    "min_size": [
+                        0.23414749974000007,
+                        0.23450000112000008,
+                        0.031500000840000014
+                    ]
+                },
+                "pos": [
+                    "ref",
+                    -1.0
+                ],
+                "try_to_place_in": "plate"
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/plate/plate_0/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.3790993958958162,
+                    0.65
+                ],
+                "offset": [
+                    0.8982513020520917,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "butter",
+            "obj_groups": "butter_stick",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.01,
+                    0.01
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "butter_container",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "butter_stick",
+                    "dairy",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "butter_stick"
+                ],
+                "cat": "butter_stick",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_0/model.xml"
+            }
+        }
+    ],
+    "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"
+        },
+        "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": "Pick up the butter stick and place it in the pan. Then turn on the burner for the pan.",
+    "fixture_refs": {
+        "stove": "stove_main_group_1",
+        "counter": "counter_2_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
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        6.133962874850507,
+        -0.825420299411032,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.57064844767067
+    ],
+    "refs": {
+        "knob": "rear_right"
+    }
+}

pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000066/ep_meta.json

@@ -0,0 +1,568 @@
+{
+    "layout_id": 20,
+    "style_id": 28,
+    "object_cfgs": [
+        {
+            "name": "pan",
+            "obj_groups": "pan",
+            "placement": {
+                "fixture": "stove_main_group",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "rear_left"
+                    ]
+                },
+                "size": [
+                    0.05,
+                    0.05
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pan",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "pan"
+                ],
+                "cat": "pan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/pan/pan_2/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.28915312362904877,
+                    0.19777307900980082,
+                    0.4430062249049935
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "rear_left"
+            }
+        },
+        {
+            "name": "butter_container",
+            "obj_groups": "plate",
+            "placement": {
+                "fixture": "counter_2_main_group",
+                "size": [
+                    0.35,
+                    0.35
+                ],
+                "sample_region_kwargs": {
+                    "ref": "stove_main_group",
+                    "loc": "left_right",
+                    "min_size": [
+                        0.23290678950000007,
+                        0.23449999650000009,
+                        0.013999999860000004
+                    ]
+                },
+                "pos": [
+                    "ref",
+                    -1.0
+                ],
+                "try_to_place_in": "plate"
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/plate/plate_2/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.312,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "butter",
+            "obj_groups": "butter_stick",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.01,
+                    0.01
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "butter_container",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "butter_stick",
+                    "dairy",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "butter_stick"
+                ],
+                "cat": "butter_stick",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_12/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_2_room": {
+            "cls": "Wall"
+        },
+        "wall_front_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_3_room": {
+            "cls": "Wall"
+        },
+        "wall_front_3_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_2_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "box_main_group": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "cab_4_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_5_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_6_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_1_left_group": {
+            "cls": "Counter"
+        },
+        "sink_1_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "box_1_left_group": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_1_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "box_2_left_group": {
+            "cls": "Box"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_left_group": {
+            "cls": "Box"
+        },
+        "knife_block_left_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "panel_stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "panel_stack_1_island_group_1_1": {
+            "cls": "PanelCabinet"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "panel_stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "panel_stack_2_island_group_1_1": {
+            "cls": "PanelCabinet"
+        },
+        "plant_island_group_1": {
+            "cls": "Accessory"
+        },
+        "counter_1_island_group_2": {
+            "cls": "Counter"
+        },
+        "panel_stack_1_island_group_2_base": {
+            "cls": "Box"
+        },
+        "panel_stack_1_island_group_2_1": {
+            "cls": "PanelCabinet"
+        },
+        "stack_1_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_2_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_2_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_2_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_2_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_2_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_2_2": {
+            "cls": "Drawer"
+        },
+        "panel_stack_2_island_group_2_base": {
+            "cls": "Box"
+        },
+        "panel_stack_2_island_group_2_1": {
+            "cls": "PanelCabinet"
+        },
+        "counter_1_front_group_1": {
+            "cls": "Counter"
+        },
+        "fridge_1_front_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_1_housing_front_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "box_front_group_1": {
+            "cls": "Box"
+        },
+        "cab_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_front_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_front_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_front_group_1": {
+            "cls": "Toaster"
+        },
+        "counter_1_front_group_2": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_front_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_2_front_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_front_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_3_front_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_front_group_2": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_front_group_2": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_front_group_2": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_oven_front_group_2": {
+            "cls": "ToasterOven"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Pick up the butter stick and place it in the pan. Then turn on the burner for the pan.",
+    "fixture_refs": {
+        "stove": "stove_main_group",
+        "counter": "counter_2_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
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+            "parent_body": "mobilebase0_support"
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+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
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+            "parent_body": "mobilebase0_support"
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+                -0.5,
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+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
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+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
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+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.4121828127645433,
+        -0.9228295239589228,
+        0.0
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+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
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+    "refs": {
+        "knob": "rear_left"
+    }
+}

pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000068/ep_meta.json

@@ -0,0 +1,523 @@
+{
+    "layout_id": 23,
+    "style_id": 27,
+    "object_cfgs": [
+        {
+            "name": "pan",
+            "obj_groups": "pan",
+            "placement": {
+                "fixture": "stove_left_group",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "front_left"
+                    ]
+                },
+                "size": [
+                    0.05,
+                    0.05
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pan",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "pan"
+                ],
+                "cat": "pan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/pan/pan_3/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.2927691542318729,
+                    -0.13797423643339302,
+                    0.44950546976329364
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "front_left"
+            }
+        },
+        {
+            "name": "butter_container",
+            "obj_groups": "plate",
+            "placement": {
+                "fixture": "counter_1_left_group",
+                "size": [
+                    0.35,
+                    0.35
+                ],
+                "sample_region_kwargs": {
+                    "ref": "stove_left_group",
+                    "loc": "left_right",
+                    "min_size": [
+                        0.2359663752600001,
+                        0.23449999188000006,
+                        0.03499999965
+                    ]
+                },
+                "pos": [
+                    "ref",
+                    -1.0
+                ],
+                "try_to_place_in": "plate"
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/plate/plate_3/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.144,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "butter",
+            "obj_groups": "butter_stick",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.01,
+                    0.01
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "butter_container",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "butter_stick",
+                    "dairy",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "butter_stick"
+                ],
+                "cat": "butter_stick",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_0/model.xml"
+            }
+        }
+    ],
+    "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"
+        },
+        "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_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": "HingeCabinet"
+        },
+        "dishwasher_main_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "box_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_4_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "top_corner_box_main_group": {
+            "cls": "Box"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_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": "HingeCabinet"
+        },
+        "box_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"
+        },
+        "stack_4_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hood_left_group": {
+            "cls": "Hood"
+        },
+        "cab_1_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "toaster_left_group": {
+            "cls": "Toaster"
+        },
+        "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_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "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"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "island_1_island_group": {
+            "cls": "Counter"
+        },
+        "island_box_island_group": {
+            "cls": "Box"
+        },
+        "island_2_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_2_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "panel_stack_2_island_group_base": {
+            "cls": "Box"
+        },
+        "panel_stack_2_island_group_1": {
+            "cls": "PanelCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Pick up the butter stick and place it in the pan. Then turn on the burner for the pan.",
+    "fixture_refs": {
+        "stove": "stove_left_group",
+        "counter": "counter_1_left_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
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+            "parent_body": "mobilebase0_support"
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+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415926193612504
+    ],
+    "refs": {
+        "knob": "front_left"
+    }
+}

pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000069/ep_meta.json

@@ -0,0 +1,523 @@
+{
+    "layout_id": 23,
+    "style_id": 11,
+    "object_cfgs": [
+        {
+            "name": "pan",
+            "obj_groups": "pan",
+            "placement": {
+                "fixture": "stove_left_group",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "rear_right"
+                    ]
+                },
+                "size": [
+                    0.05,
+                    0.05
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pan",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "pan"
+                ],
+                "cat": "pan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/pan/pan_3/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.2381915352045896,
+                    0.2068836284321821,
+                    0.4566417263464204
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "rear_right"
+            }
+        },
+        {
+            "name": "butter_container",
+            "obj_groups": "plate",
+            "placement": {
+                "fixture": "counter_2_left_group",
+                "size": [
+                    0.35,
+                    0.35
+                ],
+                "sample_region_kwargs": {
+                    "ref": "stove_left_group",
+                    "loc": "left_right",
+                    "min_size": [
+                        0.2359663752600001,
+                        0.23449999188000006,
+                        0.03499999965
+                    ]
+                },
+                "pos": [
+                    "ref",
+                    -1.0
+                ],
+                "try_to_place_in": "plate"
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/plate/plate_3/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.706,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "butter",
+            "obj_groups": "butter_stick",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.01,
+                    0.01
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "butter_container",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "butter_stick",
+                    "dairy",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "butter_stick"
+                ],
+                "cat": "butter_stick",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_0/model.xml"
+            }
+        }
+    ],
+    "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"
+        },
+        "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_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": "HingeCabinet"
+        },
+        "dishwasher_main_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "box_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_4_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "top_corner_box_main_group": {
+            "cls": "Box"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_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": "HingeCabinet"
+        },
+        "box_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"
+        },
+        "stack_4_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hood_left_group": {
+            "cls": "Hood"
+        },
+        "cab_1_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "toaster_left_group": {
+            "cls": "Toaster"
+        },
+        "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_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "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"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "island_1_island_group": {
+            "cls": "Counter"
+        },
+        "island_box_island_group": {
+            "cls": "Box"
+        },
+        "island_2_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_2_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "panel_stack_2_island_group_base": {
+            "cls": "Box"
+        },
+        "panel_stack_2_island_group_1": {
+            "cls": "PanelCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Pick up the butter stick and place it in the pan. Then turn on the burner for the pan.",
+    "fixture_refs": {
+        "stove": "stove_left_group",
+        "counter": "counter_2_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": [
+        0.929539783918267,
+        -2.2457950482001423,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415926193612504
+    ],
+    "refs": {
+        "knob": "rear_right"
+    }
+}

pretrain/composite/ButterOnPan/20250724/lerobot/extras/episode_000070/ep_meta.json

@@ -0,0 +1,505 @@
+{
+    "layout_id": 16,
+    "style_id": 25,
+    "object_cfgs": [
+        {
+            "name": "pan",
+            "obj_groups": "pan",
+            "placement": {
+                "fixture": "stove_main_group_1",
+                "ensure_object_boundary_in_range": false,
+                "sample_region_kwargs": {
+                    "locs": [
+                        "front_left"
+                    ]
+                },
+                "size": [
+                    0.05,
+                    0.05
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pan",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "pan"
+                ],
+                "cat": "pan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/pan/pan_2/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.13667874733174834,
+                    -0.08148936972983645,
+                    0.46965236862466925
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "front_left"
+            }
+        },
+        {
+            "name": "butter_container",
+            "obj_groups": "plate",
+            "placement": {
+                "fixture": "counter_1_main_group_1",
+                "size": [
+                    0.35,
+                    0.35
+                ],
+                "sample_region_kwargs": {
+                    "ref": "stove_main_group_1",
+                    "loc": "left_right",
+                    "min_size": [
+                        0.23488067988000005,
+                        0.23449999650000009,
+                        0.024499998600000007
+                    ]
+                },
+                "pos": [
+                    "ref",
+                    -1.0
+                ],
+                "try_to_place_in": "plate"
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/plate/plate_1/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.4,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "butter",
+            "obj_groups": "butter_stick",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.01,
+                    0.01
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "butter_container",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "butter_stick",
+                    "dairy",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "butter_stick"
+                ],
+                "cat": "butter_stick",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/aigen_objs/butter_stick/butter_stick_3/model.xml"
+            }
+        }
+    ],
+    "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"
+        },
+        "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": "Pick up the butter stick and place it in the pan. Then turn on the burner for the pan.",
+    "fixture_refs": {
+        "stove": "stove_main_group_1",
+        "counter": "counter_1_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
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        1.7328796222695415,
+        -0.8524976396914908,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ],
+    "refs": {
+        "knob": "front_left"
+    }
+}