Add files using upload-large-folder tool

pretrain/atomic/TurnOnElectricKettle/20250820/lerobot/extras/episode_000003/ep_meta.json

@@ -0,0 +1,277 @@
+{
+    "layout_id": 34,
+    "style_id": 30,
+    "object_cfgs": [],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stool_4_room": {
+            "cls": "Stool"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stovetop_left_group_1": {
+            "cls": "Stovetop"
+        },
+        "counter_1_left_group_1": {
+            "cls": "Counter"
+        },
+        "hingecabinet_4_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "bottom_left_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "oven_left_group_1": {
+            "cls": "Oven"
+        },
+        "microwave_left_group_1": {
+            "cls": "Microwave"
+        },
+        "fridgefrenchdoor_left_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "oven_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_1_3": {
+            "cls": "PanelCabinet"
+        },
+        "stack_2_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "coffee_machine_left_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_left_group_1": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_left_group_1": {
+            "cls": "ToasterOven"
+        },
+        "electric_kettle_left_group_1": {
+            "cls": "ElectricKettle"
+        },
+        "sink_island_group_1": {
+            "cls": "Sink"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_3_island_group_1": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_4_island_group_1": {
+            "cls": "Box"
+        },
+        "dishwasher_1_island_group_1": {
+            "cls": "Dishwasher"
+        },
+        "paper_towel_island_group_1": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Press down the lever to turn on the electric kettle.",
+    "fixture_refs": {
+        "electric_kettle": "electric_kettle_left_group_1"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        0.7991890696028335,
+        -3.1562733812532233,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1412906566438026
+    ]
+}

pretrain/atomic/TurnOnElectricKettle/20250820/lerobot/extras/episode_000005/ep_meta.json

@@ -0,0 +1,319 @@
+{
+    "layout_id": 59,
+    "style_id": 50,
+    "object_cfgs": [],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_01_room": {
+            "cls": "Wall"
+        },
+        "wall_left_01_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_02_room": {
+            "cls": "Wall"
+        },
+        "wall_left_02_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_03_room": {
+            "cls": "Wall"
+        },
+        "wall_left_03_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_04_room": {
+            "cls": "Wall"
+        },
+        "wall_left_04_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_01_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_02_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_03_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_04_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "window_group_2_room": {
+            "cls": "Window"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "fridgefrenchdoor_left_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "bottom_left_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "microwave_left_group_1": {
+            "cls": "Microwave"
+        },
+        "oven_cabinet_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_island_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "cube_3_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_4_island_group_1": {
+            "cls": "Box"
+        },
+        "dishwasher_1_island_group_1": {
+            "cls": "Dishwasher"
+        },
+        "sink_island_group_1": {
+            "cls": "Sink"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "electric_kettle_island_group_1": {
+            "cls": "ElectricKettle"
+        },
+        "stack_01_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_01_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_01_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_02_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_02_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_02_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_03_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_03_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_03_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_04_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_04_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_04_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "counter_2_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_3_main_group_1": {
+            "cls": "Counter"
+        },
+        "widestove_main_group_1": {
+            "cls": "Stove"
+        },
+        "widestove_hood_main_group_1": {
+            "cls": "Hood"
+        },
+        "singlecabinet_03_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_02_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_01_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_04_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "paper_towel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group_1": {
+            "cls": "ToasterOven"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Press down the lever to turn on the electric kettle.",
+    "fixture_refs": {
+        "electric_kettle": "electric_kettle_island_group_1"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.475736696160391,
+        -2.108268090660597,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -1.570796175799094
+    ]
+}

pretrain/atomic/TurnOnElectricKettle/20250820/lerobot/extras/episode_000009/ep_meta.json

@@ -0,0 +1,400 @@
+{
+    "layout_id": 24,
+    "style_id": 23,
+    "object_cfgs": [],
+    "fixtures": {
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "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"
+        },
+        "electric_kettle_main_group": {
+            "cls": "ElectricKettle"
+        },
+        "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": "Press down the lever to turn on the electric kettle.",
+    "fixture_refs": {
+        "electric_kettle": "electric_kettle_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        5.52858897833749,
+        -0.8359103763367713,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}

pretrain/atomic/TurnOnElectricKettle/20250820/lerobot/extras/episode_000013/ep_meta.json

@@ -0,0 +1,340 @@
+{
+    "layout_id": 30,
+    "style_id": 39,
+    "object_cfgs": [],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "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"
+        },
+        "electric_kettle_right_group": {
+            "cls": "ElectricKettle"
+        },
+        "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": "Press down the lever to turn on the electric kettle.",
+    "fixture_refs": {
+        "electric_kettle": "electric_kettle_right_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": [
+        3.0357158768520196,
+        -2.7181338081078716,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -1.3435886114798734e-07
+    ]
+}

pretrain/atomic/TurnOnElectricKettle/20250820/lerobot/extras/episode_000019/ep_meta.json

@@ -0,0 +1,442 @@
+{
+    "layout_id": 12,
+    "style_id": 55,
+    "object_cfgs": [],
+    "fixtures": {
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_5_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stool_4_room": {
+            "cls": "Stool"
+        },
+        "stool_5_room": {
+            "cls": "Stool"
+        },
+        "stool_6_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_1_main_group": {
+            "cls": "Counter"
+        },
+        "sink_1_main_group": {
+            "cls": "Sink"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "box_1_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_1_main_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "box_2_main_group": {
+            "cls": "Box"
+        },
+        "top_corner_1_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "top_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "electric_kettle_main_group": {
+            "cls": "ElectricKettle"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "stovetop_left_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "box_1_left_group": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "PanelCabinet"
+        },
+        "box_3_left_group": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "box_2_left_group": {
+            "cls": "Box"
+        },
+        "fridge_1_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_1_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "hood_left_group": {
+            "cls": "Hood"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "bottom_right_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "oven_right_group_1": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_right_group_1": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_1": {
+            "cls": "PanelCabinet"
+        },
+        "box_right_group_1": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "cab_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "panel_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "panel_stack_1_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_island_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_island_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_island_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_island_group_2": {
+            "cls": "Drawer"
+        },
+        "panel_stack_2_island_group_base": {
+            "cls": "Box"
+        },
+        "panel_stack_2_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "box_1_island_group": {
+            "cls": "Box"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Press down the lever to turn on the electric kettle.",
+    "fixture_refs": {
+        "electric_kettle": "electric_kettle_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        1.5177938109343434,
+        -0.8018542711000582,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}

pretrain/atomic/TurnOnElectricKettle/20250820/lerobot/extras/episode_000021/ep_meta.json

@@ -0,0 +1,400 @@
+{
+    "layout_id": 35,
+    "style_id": 48,
+    "object_cfgs": [],
+    "fixtures": {
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.002_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.003_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "box_1_main_group_1": {
+            "cls": "Box"
+        },
+        "hingecabinet_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "fridgefrenchdoor_main_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "knifeblock_main_group_1": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "sink_right_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "counter_2_right_group_1": {
+            "cls": "Counter"
+        },
+        "singlecabinet_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_2_right_group_1": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_1_right_group_1": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_right_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_1_right_group_1": {
+            "cls": "Dishwasher"
+        },
+        "cube_3_right_group_1": {
+            "cls": "Box"
+        },
+        "electric_kettle_right_group_1": {
+            "cls": "ElectricKettle"
+        },
+        "stovetop_left_group_1": {
+            "cls": "Stovetop"
+        },
+        "counter_1_left_group_1": {
+            "cls": "Counter"
+        },
+        "hingecabinet_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "bottom_left_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "oven_left_group_1": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group_1": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "coffeemachine_left_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_oven_left_group_1": {
+            "cls": "ToasterOven"
+        },
+        "counter_1_island_group": {
+            "cls": "Counter"
+        },
+        "stack_2_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "stack_2_dining_area_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_dining_area_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_dining_area_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_dining_area_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_dining_area_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_dining_area_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_dining_area_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_dining_area_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_dining_area_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_dining_area_group_2": {
+            "cls": "Drawer"
+        },
+        "stool_3_stool_group_1": {
+            "cls": "Stool"
+        },
+        "stool_2_stool_group_1": {
+            "cls": "Stool"
+        },
+        "stool_1_stool_group_1": {
+            "cls": "Stool"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Press down the lever to turn on the electric kettle.",
+    "fixture_refs": {
+        "electric_kettle": "electric_kettle_right_group_1"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.480952483551308,
+        -1.12467917874113,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        0.00030199704781619374
+    ]
+}

pretrain/atomic/TurnOnElectricKettle/20250820/lerobot/extras/episode_000026/ep_meta.json

@@ -0,0 +1,370 @@
+{
+    "layout_id": 51,
+    "style_id": 29,
+    "object_cfgs": [],
+    "fixtures": {
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_01_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_02_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_03_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_04_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_05_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_06_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_07_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "window_group_2_room": {
+            "cls": "Window"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "hingecabinet_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_2_main_group_1": {
+            "cls": "Box"
+        },
+        "hingecabinet_6_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "sink_main_group_1": {
+            "cls": "Sink"
+        },
+        "counter_2_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_3_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "stove_main_group_1": {
+            "cls": "Stove"
+        },
+        "microwave_main_group_1": {
+            "cls": "Microwave"
+        },
+        "micro_cab_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_01_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_01_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_02_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_02_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_02_main_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_03_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_03_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_03_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_04_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_04_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_04_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_05_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_05_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_05_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_06_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_06_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_06_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_06_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "cube_1_main_group_1": {
+            "cls": "Box"
+        },
+        "dishwasher_1_main_group_1": {
+            "cls": "Dishwasher"
+        },
+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "papertowel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "plant_main_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "electric_kettle_main_group_1": {
+            "cls": "ElectricKettle"
+        },
+        "fridgefrenchdoor_main_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_3_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "counter_4_right_group_1": {
+            "cls": "Counter"
+        },
+        "counter_5_right_group_1": {
+            "cls": "Counter"
+        },
+        "stack_07_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_07_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_08_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_08_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_08_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_1_right_group_1": {
+            "cls": "Box"
+        },
+        "toaster_oven_right_group_1": {
+            "cls": "ToasterOven"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "stack_09_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_09_island_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_09_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_09_island_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_11_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_11_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_11_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_10_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_10_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_10_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Press down the lever to turn on the electric kettle.",
+    "fixture_refs": {
+        "electric_kettle": "electric_kettle_main_group_1"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        6.811411217548393,
+        -0.8103063934824973,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.57064844767067
+    ]
+}

pretrain/atomic/TurnOnElectricKettle/20250820/lerobot/extras/episode_000035/ep_meta.json

@@ -0,0 +1,340 @@
+{
+    "layout_id": 54,
+    "style_id": 30,
+    "object_cfgs": [],
+    "fixtures": {
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_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"
+        },
+        "electric_kettle_island_group_1": {
+            "cls": "ElectricKettle"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Press down the lever to turn on the electric kettle.",
+    "fixture_refs": {
+        "electric_kettle": "electric_kettle_island_group_1"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.069113341845828,
+        -3.010775444045546,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        4.712223637101589
+    ]
+}

pretrain/atomic/TurnOnElectricKettle/20250820/lerobot/extras/episode_000038/ep_meta.json

@@ -0,0 +1,526 @@
+{
+    "layout_id": 25,
+    "style_id": 42,
+    "object_cfgs": [],
+    "fixtures": {
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_room": {
+            "cls": "Wall"
+        },
+        "wall_main_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_3_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_5_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_6_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_7_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "window_group_2_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_2_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "box_1_main_group": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "box_2_main_group": {
+            "cls": "Box"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "cab_corner_1_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_above_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_above_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_3_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_above_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_4_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_4_above_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_1_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "box_left_group": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_4_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_5_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_6_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "paper_towel_left_group": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "electric_kettle_left_group": {
+            "cls": "ElectricKettle"
+        },
+        "corner_counter_right_group": {
+            "cls": "Counter"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "box_right_group": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "middle_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "counter_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_right_group_4": {
+            "cls": "Drawer"
+        },
+        "plant_right_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_island_group_2_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_island_group_2_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_island_group_2_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_4_island_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_island_group_2_2": {
+            "cls": "Drawer"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Press down the lever to turn on the electric kettle.",
+    "fixture_refs": {
+        "electric_kettle": "electric_kettle_left_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        0.7505994173023117,
+        -1.261197330159151,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415926193612504
+    ]
+}

pretrain/atomic/TurnOnElectricKettle/20250820/lerobot/extras/episode_000040/ep_meta.json

@@ -0,0 +1,277 @@
+{
+    "layout_id": 34,
+    "style_id": 30,
+    "object_cfgs": [],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stool_4_room": {
+            "cls": "Stool"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stovetop_left_group_1": {
+            "cls": "Stovetop"
+        },
+        "counter_1_left_group_1": {
+            "cls": "Counter"
+        },
+        "hingecabinet_4_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "bottom_left_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "oven_left_group_1": {
+            "cls": "Oven"
+        },
+        "microwave_left_group_1": {
+            "cls": "Microwave"
+        },
+        "fridgefrenchdoor_left_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "oven_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_1_3": {
+            "cls": "PanelCabinet"
+        },
+        "stack_2_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "coffee_machine_left_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_left_group_1": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_left_group_1": {
+            "cls": "ToasterOven"
+        },
+        "electric_kettle_left_group_1": {
+            "cls": "ElectricKettle"
+        },
+        "sink_island_group_1": {
+            "cls": "Sink"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_3_island_group_1": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_4_island_group_1": {
+            "cls": "Box"
+        },
+        "dishwasher_1_island_group_1": {
+            "cls": "Dishwasher"
+        },
+        "paper_towel_island_group_1": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Press down the lever to turn on the electric kettle.",
+    "fixture_refs": {
+        "electric_kettle": "electric_kettle_left_group_1"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        0.782810259027149,
+        -3.4702795719198103,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1412906566438026
+    ]
+}

pretrain/atomic/TurnOnElectricKettle/20250820/lerobot/extras/episode_000046/ep_meta.json

@@ -0,0 +1,397 @@
+{
+    "layout_id": 43,
+    "style_id": 12,
+    "object_cfgs": [],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_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"
+        },
+        "electric_kettle_main_group_1": {
+            "cls": "ElectricKettle"
+        },
+        "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": "Press down the lever to turn on the electric kettle.",
+    "fixture_refs": {
+        "electric_kettle": "electric_kettle_main_group_1"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.683104784995829,
+        -0.7976029473690442,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}

pretrain/atomic/TurnOnElectricKettle/20250820/lerobot/extras/episode_000052/ep_meta.json

@@ -0,0 +1,418 @@
+{
+    "layout_id": 49,
+    "style_id": 25,
+    "object_cfgs": [],
+    "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"
+        },
+        "electric_kettle_right_group_1": {
+            "cls": "ElectricKettle"
+        },
+        "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": "Press down the lever to turn on the electric kettle.",
+    "fixture_refs": {
+        "electric_kettle": "electric_kettle_right_group_1"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        5.3105394176194824,
+        -1.2051197449265352,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -0.00016215342262304588
+    ]
+}

pretrain/atomic/TurnOnElectricKettle/20250820/lerobot/extras/episode_000055/ep_meta.json

@@ -0,0 +1,415 @@
+{
+    "layout_id": 15,
+    "style_id": 19,
+    "object_cfgs": [],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_3_room": {
+            "cls": "Wall"
+        },
+        "wall_left_3_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_2_room": {
+            "cls": "Wall"
+        },
+        "wall_front_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_4_room": {
+            "cls": "Wall"
+        },
+        "wall_left_4_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_5_room": {
+            "cls": "Wall"
+        },
+        "wall_left_5_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_3_room": {
+            "cls": "Floor"
+        },
+        "floor_3_backing_room": {
+            "cls": "Floor"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_5_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_6_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "fridge_1_main_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_1_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "bottom_main_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "oven_main_group_1": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group_1": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "stovetop_1_left_group_1": {
+            "cls": "Stovetop"
+        },
+        "counter_1_left_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_2_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "hood_left_group_1": {
+            "cls": "Hood"
+        },
+        "cab_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "counter_1_front_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_front_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_front_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_oven_front_group_1": {
+            "cls": "ToasterOven"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "panel_stack_island_group_base": {
+            "cls": "Box"
+        },
+        "panel_stack_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "box_island_group": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_2_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_island_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "electric_kettle_island_group": {
+            "cls": "ElectricKettle"
+        },
+        "paper_towel_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Press down the lever to turn on the electric kettle.",
+    "fixture_refs": {
+        "electric_kettle": "electric_kettle_island_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": [
+        1.6165043519829663,
+        -4.017492143800163,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.422854288892552e-08
+    ]
+}

pretrain/atomic/TurnOnElectricKettle/20250820/lerobot/extras/episode_000057/ep_meta.json

@@ -0,0 +1,364 @@
+{
+    "layout_id": 33,
+    "style_id": 12,
+    "object_cfgs": [],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3.001_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3.001_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2.001_room": {
+            "cls": "Floor"
+        },
+        "floor_2.001_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stool_4_room": {
+            "cls": "Stool"
+        },
+        "counter_2_right_group_1": {
+            "cls": "Counter"
+        },
+        "hingecabinet_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_3_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "fridgefrenchdoor_right_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_4_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "bottom_right_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "microwave_right_group_1": {
+            "cls": "Microwave"
+        },
+        "oven_cabinet_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_2_main_group_1": {
+            "cls": "Counter"
+        },
+        "widestove_main_group_1": {
+            "cls": "Stove"
+        },
+        "widestove_hood_main_group_1": {
+            "cls": "Hood"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group_1": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group_1": {
+            "cls": "ToasterOven"
+        },
+        "electric_kettle_main_group_1": {
+            "cls": "ElectricKettle"
+        },
+        "sink_island_group_1": {
+            "cls": "Sink"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_island_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_4_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_3_island_group_1": {
+            "cls": "Box"
+        },
+        "dishwasher_1_island_group_1": {
+            "cls": "Dishwasher"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Press down the lever to turn on the electric kettle.",
+    "fixture_refs": {
+        "electric_kettle": "electric_kettle_main_group_1"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.32711126037059,
+        -0.7669672749968768,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}

pretrain/atomic/TurnOnElectricKettle/20250820/lerobot/extras/episode_000058/ep_meta.json

@@ -0,0 +1,277 @@
+{
+    "layout_id": 34,
+    "style_id": 50,
+    "object_cfgs": [],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stool_4_room": {
+            "cls": "Stool"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stovetop_left_group_1": {
+            "cls": "Stovetop"
+        },
+        "counter_1_left_group_1": {
+            "cls": "Counter"
+        },
+        "hingecabinet_4_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "bottom_left_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "oven_left_group_1": {
+            "cls": "Oven"
+        },
+        "microwave_left_group_1": {
+            "cls": "Microwave"
+        },
+        "fridgefrenchdoor_left_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "oven_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_1_3": {
+            "cls": "PanelCabinet"
+        },
+        "stack_2_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "coffee_machine_left_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_left_group_1": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_left_group_1": {
+            "cls": "ToasterOven"
+        },
+        "electric_kettle_left_group_1": {
+            "cls": "ElectricKettle"
+        },
+        "sink_island_group_1": {
+            "cls": "Sink"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_3_island_group_1": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_4_island_group_1": {
+            "cls": "Box"
+        },
+        "dishwasher_1_island_group_1": {
+            "cls": "Dishwasher"
+        },
+        "paper_towel_island_group_1": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Press down the lever to turn on the electric kettle.",
+    "fixture_refs": {
+        "electric_kettle": "electric_kettle_left_group_1"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        0.8254695147464497,
+        -3.331479141014791,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1412906566438026
+    ]
+}

pretrain/atomic/TurnOnElectricKettle/20250820/lerobot/extras/episode_000061/ep_meta.json

@@ -0,0 +1,400 @@
+{
+    "layout_id": 24,
+    "style_id": 50,
+    "object_cfgs": [],
+    "fixtures": {
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "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"
+        },
+        "electric_kettle_main_group": {
+            "cls": "ElectricKettle"
+        },
+        "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": "Press down the lever to turn on the electric kettle.",
+    "fixture_refs": {
+        "electric_kettle": "electric_kettle_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        5.7946138689254605,
+        -0.8202187536584744,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}

pretrain/atomic/TurnOnElectricKettle/20250820/lerobot/extras/episode_000081/ep_meta.json

@@ -0,0 +1,361 @@
+{
+    "layout_id": 31,
+    "style_id": 29,
+    "object_cfgs": [],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_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"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "fridgebottomfreezer_main_group_1": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "fridgebottomfreezer_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "bottom_main_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "oven_main_group_1": {
+            "cls": "Oven"
+        },
+        "microwave_main_group_1": {
+            "cls": "Microwave"
+        },
+        "hingecabinet_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cube_2_main_group_1": {
+            "cls": "Box"
+        },
+        "cube_3_main_group_1": {
+            "cls": "Box"
+        },
+        "cube_1_main_group_1": {
+            "cls": "Box"
+        },
+        "oven_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stovetop_right_group_1": {
+            "cls": "Stovetop"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "hingecabinet_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_3_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_4_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hood_right_group_1": {
+            "cls": "Hood"
+        },
+        "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"
+        },
+        "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_3_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_1_3": {
+            "cls": "PanelCabinet"
+        },
+        "stack_5_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_5_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_right_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "papertowel_right_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_right_group_1": {
+            "cls": "ToasterOven"
+        },
+        "electric_kettle_right_group_1": {
+            "cls": "ElectricKettle"
+        },
+        "sink_island_group_1": {
+            "cls": "Sink"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_3_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_4_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_5_island_group_1": {
+            "cls": "Box"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_3_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "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"
+        },
+        "cube_6_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_7_island_group_1": {
+            "cls": "Box"
+        },
+        "dishwasher_1_island_group_1": {
+            "cls": "Dishwasher"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Press down the lever to turn on the electric kettle.",
+    "fixture_refs": {
+        "electric_kettle": "electric_kettle_right_group_1"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.867851998459541,
+        -6.0183722074943375,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        0.00030199704781619374
+    ]
+}

pretrain/atomic/TurnOnElectricKettle/20250820/lerobot/extras/episode_000082/ep_meta.json

@@ -0,0 +1,364 @@
+{
+    "layout_id": 33,
+    "style_id": 32,
+    "object_cfgs": [],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3.001_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3.001_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2.001_room": {
+            "cls": "Floor"
+        },
+        "floor_2.001_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stool_4_room": {
+            "cls": "Stool"
+        },
+        "counter_2_right_group_1": {
+            "cls": "Counter"
+        },
+        "hingecabinet_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_3_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "fridgefrenchdoor_right_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_4_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "bottom_right_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "microwave_right_group_1": {
+            "cls": "Microwave"
+        },
+        "oven_cabinet_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_2_main_group_1": {
+            "cls": "Counter"
+        },
+        "widestove_main_group_1": {
+            "cls": "Stove"
+        },
+        "widestove_hood_main_group_1": {
+            "cls": "Hood"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group_1": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group_1": {
+            "cls": "ToasterOven"
+        },
+        "electric_kettle_main_group_1": {
+            "cls": "ElectricKettle"
+        },
+        "sink_island_group_1": {
+            "cls": "Sink"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_island_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_4_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_3_island_group_1": {
+            "cls": "Box"
+        },
+        "dishwasher_1_island_group_1": {
+            "cls": "Dishwasher"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Press down the lever to turn on the electric kettle.",
+    "fixture_refs": {
+        "electric_kettle": "electric_kettle_main_group_1"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.491402996546555,
+        -0.8309376016621833,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}

pretrain/atomic/TurnOnElectricKettle/20250820/lerobot/extras/episode_000097/ep_meta.json

@@ -0,0 +1,355 @@
+{
+    "layout_id": 21,
+    "style_id": 59,
+    "object_cfgs": [],
+    "fixtures": {
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_5_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_6_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_7_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "sink_main_group": {
+            "cls": "Sink"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "box_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_main_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "electric_kettle_main_group": {
+            "cls": "ElectricKettle"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group": {
+            "cls": "Counter"
+        },
+        "hood_left_group": {
+            "cls": "Hood"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "box_left_group": {
+            "cls": "Box"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_4_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_left_group_2": {
+            "cls": "Drawer"
+        },
+        "counter_3_left_group": {
+            "cls": "Counter"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_4_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_island_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_island_group_2": {
+            "cls": "Drawer"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Press down the lever to turn on the electric kettle.",
+    "fixture_refs": {
+        "electric_kettle": "electric_kettle_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        1.8885170648250045,
+        -0.8108644107174626,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}

pretrain/atomic/TurnOnElectricKettle/20250820/lerobot/extras/episode_000106/ep_meta.json

@@ -0,0 +1,391 @@
+{
+    "layout_id": 23,
+    "style_id": 35,
+    "object_cfgs": [],
+    "fixtures": {
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_room": {
+            "cls": "Wall"
+        },
+        "wall_main_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "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"
+        },
+        "electric_kettle_main_group": {
+            "cls": "ElectricKettle"
+        },
+        "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": "Press down the lever to turn on the electric kettle.",
+    "fixture_refs": {
+        "electric_kettle": "electric_kettle_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        1.9895048902625887,
+        -0.7904342014128019,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}