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+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "potato",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "food_set1",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "potato",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_9/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "carrot",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "food_set1",
+                    "group1"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "carrot",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_4/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the shrimp and place it on the second highest rack of the freezer. Then take the vegetable container that has the potato and carrot and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.643876355459295,
+        -0.7504507591773836,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000001/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000001/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f60b14c8a55f6a3efd48b1bad4ef8c0b2a28e22c
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000001/ep_meta.json
@@ -0,0 +1,558 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.21624000000000004,
+                        0.15623854800000003,
+                        0.07119842400000001
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware036/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "fish",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "fish",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_7/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware039/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "cucumber",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "food_set1"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "cucumber",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_3/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "potato",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "food_set1",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "potato",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_8/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the fish and place it on the second highest rack of the freezer. Then take the vegetable container that has the cucumber and potato and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.788731535567973,
+        -0.8080118839893902,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000002/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000002/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a507eaf3916fc4467ff3756f0988fe3adb6e0777
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000002/ep_meta.json
@@ -0,0 +1,557 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.2643459000000001,
+                        0.150289728,
+                        0.0483248
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware040/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.075144864,
+                    0.075144864
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "fish",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "fish",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_8/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware038/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "broccoli",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "broccoli",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_3/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "eggplant",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "eggplant",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_4/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the fish and place it on the second highest rack of the freezer. Then take the vegetable container that has the broccoli and eggplant and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.8572733769953769,
+        -0.7802794526296254,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000008/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000008/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..fa95bcd082b8eb1c4c2228cd85f628e8767e345d
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000008/ep_meta.json
@@ -0,0 +1,557 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.202798848,
+                        0.13751854800000002,
+                        0.04816
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware039/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "shrimp",
+                    "meat",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "shrimp",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp011/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware039/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "eggplant",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "eggplant",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_3/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "carrot",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "food_set1",
+                    "group1"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "carrot",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_6/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the shrimp and place it on the second highest rack of the freezer. Then take the vegetable container that has the eggplant and carrot and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.9023785568351654,
+        -0.7868299995763037,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000011/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000011/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..23fd2116cf6b70ac915579630c5835cb5f05e544
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000011/ep_meta.json
@@ -0,0 +1,702 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_right_group",
+                    "min_size": [
+                        0.21624000000000004,
+                        0.15623854800000003,
+                        0.07119842400000001
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware036/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "steak",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "steak",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_5/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware038/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "mushroom",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "mushroom",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_8/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "lemon_wedge",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "lemon_wedge",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge012/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the steak and place it on the second highest rack of the freezer. Then take the vegetable container that has the mushroom and lemon wedge and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_right_group",
+        "counter": "counter_1_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": [
+        5.59928242925487,
+        -1.9048395700174663,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000014/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000014/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9b6d029f1764e13a64177397b5a84ca2d0d22b9
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000014/ep_meta.json
@@ -0,0 +1,704 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_right_group",
+                    "min_size": [
+                        0.2643459000000001,
+                        0.150289728,
+                        0.0483248
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware040/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.075144864,
+                    0.075144864
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "fish",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "fish",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_9/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware039/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "potato",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "food_set1",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "potato",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_9/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "lemon_wedge",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "lemon_wedge",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge009/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the fish and place it on the second highest rack of the freezer. Then take the vegetable container that has the potato and lemon wedge and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_right_group",
+        "counter": "counter_1_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": [
+        5.587689489102959,
+        -1.8575757744099117,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000018/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000018/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7d34f566b6ea04a45d961bea2b53100fa317a32d
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000018/ep_meta.json
@@ -0,0 +1,557 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.202798848,
+                        0.13751854800000002,
+                        0.04816
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware039/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "fish",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "fish",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_6/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware036/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "cucumber",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "food_set1"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "cucumber",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_3/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "corn",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "corn",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_3/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the fish and place it on the second highest rack of the freezer. Then take the vegetable container that has the cucumber and corn and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.7903918316436365,
+        -0.7938554367195383,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000024/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000024/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..49462227a9d34c85a5822ec3889ae6705f4f4747
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000024/ep_meta.json
@@ -0,0 +1,558 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.21869902800000005,
+                        0.16301016000000004,
+                        0.064043456
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware037/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "fish",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "fish",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_9/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware040/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.075144864,
+                    0.075144864
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "carrot",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "food_set1",
+                    "group1"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "carrot",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_7/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.075144864,
+                    0.075144864
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "eggplant",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "eggplant",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_4/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the fish and place it on the second highest rack of the freezer. Then take the vegetable container that has the carrot and eggplant and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.6706708338853624,
+        -0.7759225629565312,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000025/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000025/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..870c42b489642cd0c03b763592f69f30d1512446
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000025/ep_meta.json
@@ -0,0 +1,702 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_right_group",
+                    "min_size": [
+                        0.21624000000000004,
+                        0.15623854800000003,
+                        0.07119842400000001
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware036/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "chicken_drumstick",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "chicken_drumstick",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick010/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware037/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "garlic",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "garlic",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_4/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "squash",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "squash",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_3/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the chicken drumstick and place it on the second highest rack of the freezer. Then take the vegetable container that has the garlic and squash and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_right_group",
+        "counter": "counter_1_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": [
+        5.578439997379687,
+        -1.9275147352786528,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000027/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000027/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..58ad07a10b67ff1fcbbc2a7a40fa41bf3fdff13b
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000027/ep_meta.json
@@ -0,0 +1,556 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.21869902800000005,
+                        0.16301016000000004,
+                        0.064043456
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware037/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "fish",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "fish",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_7/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware040/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.075144864,
+                    0.075144864
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "lime",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "lime",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_2/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.075144864,
+                    0.075144864
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "cucumber",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "food_set1"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "cucumber",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_3/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the fish and place it on the second highest rack of the freezer. Then take the vegetable container that has the lime and cucumber and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.628533497139968,
+        -0.7548920494304634,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000028/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000028/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6cb59e09644fbf78ca62399ce7a1fc709e8dee13
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000028/ep_meta.json
@@ -0,0 +1,703 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_right_group",
+                    "min_size": [
+                        0.2643459000000001,
+                        0.150289728,
+                        0.0483248
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware040/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.075144864,
+                    0.075144864
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "chicken_drumstick",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "chicken_drumstick",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick014/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware037/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "lemon",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "food_set1"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "lemon",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_7/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tomato",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "tomato",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_6/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the chicken drumstick and place it on the second highest rack of the freezer. Then take the vegetable container that has the lemon and tomato and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_right_group",
+        "counter": "counter_1_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": [
+        5.561020646242945,
+        -1.8181631136634229,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000033/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000033/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..06f5d29c7771a297665cd9ebd0af4b11d2358cbb
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000033/ep_meta.json
@@ -0,0 +1,628 @@
+{
+    "layout_id": 9,
+    "style_id": 9,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_1_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_right_group",
+                    "min_size": [
+                        0.21624000000000004,
+                        0.15623854800000003,
+                        0.07119842400000001
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware036/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.5169929026218261,
+                    0.65
+                ],
+                "offset": [
+                    0.49150354868908686,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "shrimp",
+                    "meat",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "shrimp",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp010/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_1_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware040/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.5169929026218261,
+                    0.65
+                ],
+                "offset": [
+                    0.49150354868908686,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.075144864,
+                    0.075144864
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "potato",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "food_set1",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "potato",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_5/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.075144864,
+                    0.075144864
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "squash",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "squash",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_16/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_1_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_2_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "salt_shaker_front_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_front_group_auxiliary_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "plant_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_left_group": {
+            "cls": "Accessory"
+        },
+        "stack_left_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_right_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "cab_top_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_right_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "side_bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "side_bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_3": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the shrimp and place it on the second highest rack of the freezer. Then take the vegetable container that has the potato and squash and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_right_group",
+        "counter": "counter_1_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.695981024730809,
+        -0.834790485320072,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000037/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000037/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b4cecbf41f2fd2f058a0bab27b7c3a0ea0a7c31
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000037/ep_meta.json
@@ -0,0 +1,704 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_right_group",
+                    "min_size": [
+                        0.202798848,
+                        0.13751854800000002,
+                        0.04816
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware039/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "fish",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "fish",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_5/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware037/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "cucumber",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "food_set1"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "cucumber",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_4/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "corn",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "corn",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_4/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the fish and place it on the second highest rack of the freezer. Then take the vegetable container that has the cucumber and corn and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_right_group",
+        "counter": "counter_1_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": [
+        5.62804296197857,
+        -1.6767960606067,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000048/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000048/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc7551db790b1bc600c2f868aa2beebf4d431198
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000048/ep_meta.json
@@ -0,0 +1,556 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.2643459000000001,
+                        0.150289728,
+                        0.0483248
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware040/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.075144864,
+                    0.075144864
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "steak",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "steak",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_9/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware037/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sweet_potato",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "sweet_potato",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_3/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tomato",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "tomato",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_5/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the steak and place it on the second highest rack of the freezer. Then take the vegetable container that has the sweet potato and tomato and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.6604381695452697,
+        -0.8174845402903052,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000049/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000049/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..64dd0aee62690c43e6dfc8bb7bc7a7cc6ef98175
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000049/ep_meta.json
@@ -0,0 +1,555 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.2643459000000001,
+                        0.150289728,
+                        0.0483248
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware040/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.075144864,
+                    0.075144864
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "shrimp",
+                    "meat",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "shrimp",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp011/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware039/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "corn",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "corn",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_3/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tomato",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "tomato",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_6/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the shrimp and place it on the second highest rack of the freezer. Then take the vegetable container that has the corn and tomato and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.9067693907552108,
+        -0.8105096896421156,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000053/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000053/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..aec9f218cc63e291bbfd457fb63441157faab561
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000053/ep_meta.json
@@ -0,0 +1,703 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_right_group",
+                    "min_size": [
+                        0.2643459000000001,
+                        0.150289728,
+                        0.0483248
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware040/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.075144864,
+                    0.075144864
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "steak",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "steak",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_8/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware036/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "garlic",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "garlic",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_4/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "broccoli",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "broccoli",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_3/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the steak and place it on the second highest rack of the freezer. Then take the vegetable container that has the garlic and broccoli and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_right_group",
+        "counter": "counter_1_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": [
+        5.550414719105425,
+        -1.9507417079501492,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000056/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000056/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..abfacaba4a576e3c8eec0ea7b5b7e93136a37c08
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000056/ep_meta.json
@@ -0,0 +1,556 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.202798848,
+                        0.13751854800000002,
+                        0.04816
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware039/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "steak",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "steak",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_8/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware038/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "corn",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "corn",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_3/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tomato",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "tomato",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_7/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the steak and place it on the second highest rack of the freezer. Then take the vegetable container that has the corn and tomato and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.8600903005659915,
+        -0.801489415783812,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000060/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000060/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1a3fa582f7bb309d11a503e374373589e3a4ab91
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000060/ep_meta.json
@@ -0,0 +1,556 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.21624000000000004,
+                        0.15623854800000003,
+                        0.07119842400000001
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware036/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "fish",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "fish",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_5/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware036/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "bell_pepper",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "bell_pepper",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_2/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "cucumber",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "food_set1"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "cucumber",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_5/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the fish and place it on the second highest rack of the freezer. Then take the vegetable container that has the bell pepper and cucumber and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.6357982415187382,
+        -0.8037751898701379,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000064/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000064/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f5a3d3cfc6398f8dc96488e0729ab373db5688f2
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000064/ep_meta.json
@@ -0,0 +1,702 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_right_group",
+                    "min_size": [
+                        0.21869902800000005,
+                        0.16301016000000004,
+                        0.064043456
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware037/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "shrimp",
+                    "meat",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "shrimp",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp012/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware040/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.075144864,
+                    0.075144864
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "eggplant",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "eggplant",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_3/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.075144864,
+                    0.075144864
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "squash",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "squash",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_7/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the shrimp and place it on the second highest rack of the freezer. Then take the vegetable container that has the eggplant and squash and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_right_group",
+        "counter": "counter_1_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": [
+        5.577877788616855,
+        -1.7877475853158795,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000071/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000071/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..33bae2a9dacad7f97d2ba80f491529bc0fd34319
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000071/ep_meta.json
@@ -0,0 +1,557 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.21869902800000005,
+                        0.16301016000000004,
+                        0.064043456
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware037/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "chicken_drumstick",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "chicken_drumstick",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick010/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware036/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "lemon",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "food_set1"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "lemon",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_9/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "eggplant",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "eggplant",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_4/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the chicken drumstick and place it on the second highest rack of the freezer. Then take the vegetable container that has the lemon and eggplant and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.8323039796695282,
+        -0.7515603956213226,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000072/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000072/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9017dd1507ff49f94737d69cb7ec3301e69ffe73
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000072/ep_meta.json
@@ -0,0 +1,556 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.202798848,
+                        0.13751854800000002,
+                        0.04816
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware039/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "shrimp",
+                    "meat",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "shrimp",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp011/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware038/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tomato",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "tomato",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_6/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "potato",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "food_set1",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "potato",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_8/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the shrimp and place it on the second highest rack of the freezer. Then take the vegetable container that has the tomato and potato and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.8469061977379706,
+        -0.7613813475311838,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000073/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000073/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e63e2bd58c37242e34a51cdc758bafcc3ab4993b
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000073/ep_meta.json
@@ -0,0 +1,556 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.22472085600000005,
+                        0.22401138,
+                        0.061488560000000005
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware038/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "fish",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "fish",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_8/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware037/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "squash",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "squash",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_7/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sweet_potato",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "sweet_potato",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_3/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the fish and place it on the second highest rack of the freezer. Then take the vegetable container that has the squash and sweet potato and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.7048726775178573,
+        -0.8085455934995852,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000074/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000074/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d07fa3f33fff40c2d429ae9f8627ab154ce45b00
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000074/ep_meta.json
@@ -0,0 +1,704 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_right_group",
+                    "min_size": [
+                        0.2643459000000001,
+                        0.150289728,
+                        0.0483248
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware040/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.075144864,
+                    0.075144864
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "shrimp",
+                    "meat",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "shrimp",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp012/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware038/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "cucumber",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "food_set1"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "cucumber",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_4/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "carrot",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "food_set1",
+                    "group1"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "carrot",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_7/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the shrimp and place it on the second highest rack of the freezer. Then take the vegetable container that has the cucumber and carrot and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_right_group",
+        "counter": "counter_1_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": [
+        5.591391273916563,
+        -1.714459953499967,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000075/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000075/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a537f7fc9beb040b34cb4ed87ee4cfe56ce81287
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000075/ep_meta.json
@@ -0,0 +1,555 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.22472085600000005,
+                        0.22401138,
+                        0.061488560000000005
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware038/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "fish",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "fish",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_6/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware039/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "onion",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "onion",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_7/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "lemon_wedge",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "lemon_wedge",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge011/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the fish and place it on the second highest rack of the freezer. Then take the vegetable container that has the onion and lemon wedge and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.7946141444191994,
+        -0.7800281820222563,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000076/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000076/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..05cd739f1c187214819e9900037166fc44899ded
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000076/ep_meta.json
@@ -0,0 +1,557 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.2643459000000001,
+                        0.150289728,
+                        0.0483248
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware040/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.075144864,
+                    0.075144864
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "steak",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "steak",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_5/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware039/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "corn",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "corn",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_3/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "eggplant",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "eggplant",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_4/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the steak and place it on the second highest rack of the freezer. Then take the vegetable container that has the corn and eggplant and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.641200076442286,
+        -0.769250565458242,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000078/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000078/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..23f271558ed33e1f073973de75e809cb80ea3aee
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000078/ep_meta.json
@@ -0,0 +1,556 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.202798848,
+                        0.13751854800000002,
+                        0.04816
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware039/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "chicken_drumstick",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "chicken_drumstick",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick013/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware036/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "garlic",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "garlic",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_5/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "eggplant",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "eggplant",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_3/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the chicken drumstick and place it on the second highest rack of the freezer. Then take the vegetable container that has the garlic and eggplant and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.6844849549589735,
+        -0.8136792431595884,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000079/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000079/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ed9e59f3beb62bab04650820bcb971939ef4b1c2
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000079/ep_meta.json
@@ -0,0 +1,557 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.2643459000000001,
+                        0.150289728,
+                        0.0483248
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware040/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.075144864,
+                    0.075144864
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "steak",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "steak",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_4/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware040/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.075144864,
+                    0.075144864
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sweet_potato",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "sweet_potato",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_3/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.075144864,
+                    0.075144864
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "corn",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "corn",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_4/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the steak and place it on the second highest rack of the freezer. Then take the vegetable container that has the sweet potato and corn and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.8062469092325624,
+        -0.7863336658210854,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000084/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000084/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7aae0298a7f2014f21e75fa1bbf9a009e93ed58d
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000084/ep_meta.json
@@ -0,0 +1,703 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_right_group",
+                    "min_size": [
+                        0.21624000000000004,
+                        0.15623854800000003,
+                        0.07119842400000001
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware036/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "fish",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "fish",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_7/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware038/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "eggplant",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "eggplant",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_4/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "garlic",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "garlic",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_5/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the fish and place it on the second highest rack of the freezer. Then take the vegetable container that has the eggplant and garlic and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_right_group",
+        "counter": "counter_1_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": [
+        5.636582084520233,
+        -1.7137556103152376,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000087/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000087/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7cd8d8a4d3fe194fa4e0e3e27dd8040ef57556ec
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000087/ep_meta.json
@@ -0,0 +1,705 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_right_group",
+                    "min_size": [
+                        0.21869902800000005,
+                        0.16301016000000004,
+                        0.064043456
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware037/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "chicken_drumstick",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "chicken_drumstick",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick014/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware038/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "potato",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "food_set1",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "potato",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_8/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "broccoli",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "broccoli",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_3/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the chicken drumstick and place it on the second highest rack of the freezer. Then take the vegetable container that has the potato and broccoli and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_right_group",
+        "counter": "counter_1_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": [
+        5.611989464605437,
+        -1.8421550540582314,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000092/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000092/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6180d9974057a859d4ae69294f0bab55c029bfa
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000092/ep_meta.json
@@ -0,0 +1,703 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_right_group",
+                    "min_size": [
+                        0.21869902800000005,
+                        0.16301016000000004,
+                        0.064043456
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware037/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "shrimp",
+                    "meat",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "shrimp",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp011/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware040/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.075144864,
+                    0.075144864
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "corn",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "corn",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_3/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.075144864,
+                    0.075144864
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "cucumber",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "food_set1"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "cucumber",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_4/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the shrimp and place it on the second highest rack of the freezer. Then take the vegetable container that has the corn and cucumber and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_right_group",
+        "counter": "counter_1_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": [
+        5.577628221440366,
+        -1.7709029606959024,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000100/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000100/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b6509f1f2d8302a68a4dd056c5a0d972d6b95f38
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000100/ep_meta.json
@@ -0,0 +1,556 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.21624000000000004,
+                        0.15623854800000003,
+                        0.07119842400000001
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware036/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "fish",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "fish",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_6/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware040/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.075144864,
+                    0.075144864
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "avocado",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "avocado",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_8/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.075144864,
+                    0.075144864
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "corn",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "corn",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_4/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the fish and place it on the second highest rack of the freezer. Then take the vegetable container that has the avocado and corn and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.6140649696604865,
+        -0.7560157159767897,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000107/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000107/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5fc6f075bf79d9fbf5318eb005bdf0d6b23a631a
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000107/ep_meta.json
@@ -0,0 +1,557 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.22472085600000005,
+                        0.22401138,
+                        0.061488560000000005
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware038/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "steak",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "steak",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_4/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware037/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "corn",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "corn",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_4/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "eggplant",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "eggplant",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_3/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the steak and place it on the second highest rack of the freezer. Then take the vegetable container that has the corn and eggplant and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.8649092160826661,
+        -0.7976694115331691,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000111/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000111/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..eb7558b1539bd3acd0985be098e143796b036920
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000111/ep_meta.json
@@ -0,0 +1,556 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.22472085600000005,
+                        0.22401138,
+                        0.061488560000000005
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware038/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "steak",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "steak",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_8/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware036/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "cucumber",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "food_set1"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "cucumber",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_5/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "avocado",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "avocado",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_6/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the steak and place it on the second highest rack of the freezer. Then take the vegetable container that has the cucumber and avocado and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.8504161314180256,
+        -0.7566118426865016,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000115/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000115/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b4a2da28f6b48d9b1ad63d8b233fa03c40b4ce95
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000115/ep_meta.json
@@ -0,0 +1,703 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_right_group",
+                    "min_size": [
+                        0.21869902800000005,
+                        0.16301016000000004,
+                        0.064043456
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware037/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "fish",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "fish",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_6/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware037/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sweet_potato",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "sweet_potato",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_3/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "squash",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "squash",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_7/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the fish and place it on the second highest rack of the freezer. Then take the vegetable container that has the sweet potato and squash and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_right_group",
+        "counter": "counter_1_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": [
+        5.587452033170472,
+        -1.9342246308890976,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000136/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000136/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d259f3ae71b6fba59a520a545c8c1f027087572b
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000136/ep_meta.json
@@ -0,0 +1,558 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.21869902800000005,
+                        0.16301016000000004,
+                        0.064043456
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware037/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "chicken_drumstick",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "chicken_drumstick",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick014/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware040/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.075144864,
+                    0.075144864
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "carrot",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "food_set1",
+                    "group1"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "carrot",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_6/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.075144864,
+                    0.075144864
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "broccoli",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "broccoli",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_3/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the chicken drumstick and place it on the second highest rack of the freezer. Then take the vegetable container that has the carrot and broccoli and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.6748376175878361,
+        -0.7767154323098552,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000139/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000139/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5a95eeef320cf9a5a0936f9e3d74e8f66ce40964
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000139/ep_meta.json
@@ -0,0 +1,704 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_right_group",
+                    "min_size": [
+                        0.21869902800000005,
+                        0.16301016000000004,
+                        0.064043456
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware037/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "fish",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "fish",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_5/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware037/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "lime",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "lime",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_3/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "potato",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "food_set1",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "potato",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_8/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the fish and place it on the second highest rack of the freezer. Then take the vegetable container that has the lime and potato and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_right_group",
+        "counter": "counter_1_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": [
+        5.5715827164605995,
+        -1.6700125327913178,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000140/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000140/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..076a5c152c18812ccff8817818c8b8c5eb469020
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000140/ep_meta.json
@@ -0,0 +1,556 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.202798848,
+                        0.13751854800000002,
+                        0.04816
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware039/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "shrimp",
+                    "meat",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "shrimp",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp010/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware036/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "lemon",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "food_set1"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "lemon",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_9/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "cucumber",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "food_set1"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "cucumber",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_5/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the shrimp and place it on the second highest rack of the freezer. Then take the vegetable container that has the lemon and cucumber and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.8719745555787075,
+        -0.7712339511372918,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000141/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000141/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6e549b290f4ecba44a78eab153569a2a4a7b2250
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000141/ep_meta.json
@@ -0,0 +1,704 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_right_group",
+                    "min_size": [
+                        0.2643459000000001,
+                        0.150289728,
+                        0.0483248
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware040/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.075144864,
+                    0.075144864
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "shrimp",
+                    "meat",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "shrimp",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp011/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware038/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "carrot",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "food_set1",
+                    "group1"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "carrot",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_7/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "corn",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "corn",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_3/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the shrimp and place it on the second highest rack of the freezer. Then take the vegetable container that has the carrot and corn and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_right_group",
+        "counter": "counter_1_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": [
+        5.583942566827168,
+        -1.8036352754912317,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000143/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000143/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6aa013d1f0c38661c99d8ecdeb3bf6240c2c09fa
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000143/ep_meta.json
@@ -0,0 +1,556 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.22472085600000005,
+                        0.22401138,
+                        0.061488560000000005
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware038/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "chicken_drumstick",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "chicken_drumstick",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick012/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware036/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "garlic",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "garlic",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_4/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sweet_potato",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "sweet_potato",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_3/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the chicken drumstick and place it on the second highest rack of the freezer. Then take the vegetable container that has the garlic and sweet potato and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.6553349645787026,
+        -0.8182505368926906,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000145/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000145/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9f3b0f874b35941c1b2b105ae5c0d1ee950750b6
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000145/ep_meta.json
@@ -0,0 +1,705 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_right_group",
+                    "min_size": [
+                        0.21624000000000004,
+                        0.15623854800000003,
+                        0.07119842400000001
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware036/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "steak",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "steak",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_8/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware036/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "corn",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "corn",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_4/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "carrot",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "food_set1",
+                    "group1"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "carrot",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_7/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the steak and place it on the second highest rack of the freezer. Then take the vegetable container that has the corn and carrot and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_right_group",
+        "counter": "counter_1_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": [
+        5.586193501219843,
+        -1.872205368562152,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000148/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000148/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e477965bde95c643fcf7024a8fcb1e6dfe21a11
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000148/ep_meta.json
@@ -0,0 +1,703 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_right_group",
+                    "min_size": [
+                        0.21624000000000004,
+                        0.15623854800000003,
+                        0.07119842400000001
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware036/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "steak",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "steak",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_4/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware036/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "garlic",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "garlic",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_4/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "eggplant",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "eggplant",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_4/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the steak and place it on the second highest rack of the freezer. Then take the vegetable container that has the garlic and eggplant and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_right_group",
+        "counter": "counter_1_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": [
+        5.601209197428149,
+        -1.8903741497988569,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000149/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000149/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..52ddcd1aab6d1963236817184ebeec4210a72de8
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000149/ep_meta.json
@@ -0,0 +1,556 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.22472085600000005,
+                        0.22401138,
+                        0.061488560000000005
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware038/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "steak",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "steak",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_4/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware036/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "onion",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "onion",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_8/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "lemon",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "food_set1"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "lemon",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_6/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the steak and place it on the second highest rack of the freezer. Then take the vegetable container that has the onion and lemon and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.6742174330766058,
+        -0.8131237692207326,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000155/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000155/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..07b60211e50d0ea522d36b97961ab411f4184cf3
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000155/ep_meta.json
@@ -0,0 +1,703 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_right_group",
+                    "min_size": [
+                        0.2643459000000001,
+                        0.150289728,
+                        0.0483248
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware040/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.075144864,
+                    0.075144864
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "steak",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "steak",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_8/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware037/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "squash",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "squash",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_3/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "lemon",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "food_set1"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "lemon",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_8/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the steak and place it on the second highest rack of the freezer. Then take the vegetable container that has the squash and lemon and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_right_group",
+        "counter": "counter_1_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": [
+        5.635015093445002,
+        -1.823875946300744,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000156/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000156/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..201159fa32869503d9553473f2ba0782edb568e1
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000156/ep_meta.json
@@ -0,0 +1,703 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_right_group",
+                    "min_size": [
+                        0.202798848,
+                        0.13751854800000002,
+                        0.04816
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware039/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "fish",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "fish",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_5/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware040/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.075144864,
+                    0.075144864
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "lemon_wedge",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "lemon_wedge",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge011/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.075144864,
+                    0.075144864
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "corn",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "corn",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_3/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the fish and place it on the second highest rack of the freezer. Then take the vegetable container that has the lemon wedge and corn and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_right_group",
+        "counter": "counter_1_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": [
+        5.591689071271896,
+        -1.9058297860533424,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000157/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000157/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6a74186a3417dcfdfb24828532a74bf64c21bfc0
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000157/ep_meta.json
@@ -0,0 +1,556 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.21624000000000004,
+                        0.15623854800000003,
+                        0.07119842400000001
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware036/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "fish",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "fish",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_7/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware036/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "onion",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "onion",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_7/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "cucumber",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "food_set1"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "cucumber",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_3/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the fish and place it on the second highest rack of the freezer. Then take the vegetable container that has the onion and cucumber and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.9088457921707833,
+        -0.7988666720154449,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000158/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000158/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bdfde5ebe5fcbc12752da381104992b72a805a46
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000158/ep_meta.json
@@ -0,0 +1,555 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.2643459000000001,
+                        0.150289728,
+                        0.0483248
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware040/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.075144864,
+                    0.075144864
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "shrimp",
+                    "meat",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "shrimp",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp012/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware037/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "eggplant",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "eggplant",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_4/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "lemon_wedge",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "lemon_wedge",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge011/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the shrimp and place it on the second highest rack of the freezer. Then take the vegetable container that has the eggplant and lemon wedge and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.6314387468328826,
+        -0.7878491982373986,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000159/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000159/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..149887cc1cc7991401381cdf43b63b3f1b6c7d19
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000159/ep_meta.json
@@ -0,0 +1,556 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.21869902800000005,
+                        0.16301016000000004,
+                        0.064043456
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware037/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "shrimp",
+                    "meat",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "shrimp",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp010/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware036/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "broccoli",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "broccoli",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_3/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "eggplant",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "eggplant",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_4/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the shrimp and place it on the second highest rack of the freezer. Then take the vegetable container that has the broccoli and eggplant and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.8441638379743455,
+        -0.7803944592147578,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000162/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000162/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..37243bc05f66ea6488940db229e01c792577ed5f
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000162/ep_meta.json
@@ -0,0 +1,554 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.22472085600000005,
+                        0.22401138,
+                        0.061488560000000005
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware038/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "shrimp",
+                    "meat",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "shrimp",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp012/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware039/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tomato",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "tomato",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_8/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "avocado",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "avocado",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_5/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the shrimp and place it on the second highest rack of the freezer. Then take the vegetable container that has the tomato and avocado and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.8490702887272008,
+        -0.7622147823406751,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000164/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000164/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..42c680b55f8d85e46496abf10027ac14f91adf83
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000164/ep_meta.json
@@ -0,0 +1,702 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_right_group",
+                    "min_size": [
+                        0.22472085600000005,
+                        0.22401138,
+                        0.061488560000000005
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware038/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "shrimp",
+                    "meat",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "shrimp",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp010/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware038/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tomato",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "tomato",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_8/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "cucumber",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "food_set1"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "cucumber",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_4/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the shrimp and place it on the second highest rack of the freezer. Then take the vegetable container that has the tomato and cucumber and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_right_group",
+        "counter": "counter_1_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": [
+        5.577000512938931,
+        -1.6826208347721683,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000165/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000165/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9dac7ed75cf84cf0745a8f20e26b7f256a527371
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000165/ep_meta.json
@@ -0,0 +1,701 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_right_group",
+                    "min_size": [
+                        0.2643459000000001,
+                        0.150289728,
+                        0.0483248
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware040/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.075144864,
+                    0.075144864
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "shrimp",
+                    "meat",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "shrimp",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp012/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware038/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "onion",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "onion",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_6/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "squash",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "squash",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_16/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the shrimp and place it on the second highest rack of the freezer. Then take the vegetable container that has the onion and squash and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_right_group",
+        "counter": "counter_1_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": [
+        5.583038870972374,
+        -1.703390493803921,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000168/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000168/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b93659153a7bb0eed2f245edf4737707c450f3a2
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000168/ep_meta.json
@@ -0,0 +1,558 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.202798848,
+                        0.13751854800000002,
+                        0.04816
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware039/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "chicken_drumstick",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "chicken_drumstick",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick011/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware040/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.075144864,
+                    0.075144864
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "lemon",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "food_set1"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "lemon",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_5/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.075144864,
+                    0.075144864
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "carrot",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "food_set1",
+                    "group1"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "carrot",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_7/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the chicken drumstick and place it on the second highest rack of the freezer. Then take the vegetable container that has the lemon and carrot and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.6131165197653399,
+        -0.7905111098143195,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000178/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000178/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..cb1e2f81a184f9d1b34b352e4d09e2cfa3a7d429
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000178/ep_meta.json
@@ -0,0 +1,554 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.2643459000000001,
+                        0.150289728,
+                        0.0483248
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware040/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.075144864,
+                    0.075144864
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "shrimp",
+                    "meat",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "shrimp",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp010/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware037/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "bell_pepper",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "bell_pepper",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_2/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "squash",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "squash",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_7/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the shrimp and place it on the second highest rack of the freezer. Then take the vegetable container that has the bell pepper and squash and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.8994615015439604,
+        -0.8193834328021166,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000180/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000180/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..74003da52e949e0fc08bea62c71d3f528129dfe9
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000180/ep_meta.json
@@ -0,0 +1,702 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_right_group",
+                    "min_size": [
+                        0.2643459000000001,
+                        0.150289728,
+                        0.0483248
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware040/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.075144864,
+                    0.075144864
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "shrimp",
+                    "meat",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "shrimp",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp011/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware038/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "eggplant",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "eggplant",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_4/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "bell_pepper",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "bell_pepper",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_3/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the shrimp and place it on the second highest rack of the freezer. Then take the vegetable container that has the eggplant and bell pepper and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_right_group",
+        "counter": "counter_1_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": [
+        5.559269607235961,
+        -1.7660494923488,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000189/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000189/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..37601d76157ff830d18d653a1764b3eec8c0e8d8
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000189/ep_meta.json
@@ -0,0 +1,555 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.2643459000000001,
+                        0.150289728,
+                        0.0483248
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware040/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.075144864,
+                    0.075144864
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "chicken_drumstick",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "chicken_drumstick",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick013/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware040/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.075144864,
+                    0.075144864
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "mushroom",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "mushroom",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_4/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.075144864,
+                    0.075144864
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "lemon_wedge",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "lemon_wedge",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge011/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the chicken drumstick and place it on the second highest rack of the freezer. Then take the vegetable container that has the mushroom and lemon wedge and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.7100728928787166,
+        -0.7633988654145878,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000192/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000192/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c9d55c46e8b571792b200dbdfe9080582e08b19f
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000192/ep_meta.json
@@ -0,0 +1,557 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.21869902800000005,
+                        0.16301016000000004,
+                        0.064043456
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware037/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "chicken_drumstick",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "chicken_drumstick",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick013/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware037/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "corn",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "corn",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_4/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "eggplant",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "eggplant",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_3/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the chicken drumstick and place it on the second highest rack of the freezer. Then take the vegetable container that has the corn and eggplant and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.8217846134940947,
+        -0.7658647739475116,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000197/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000197/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a14d4d4cad13ae82977c46dd4be671ce352af9ba
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000197/ep_meta.json
@@ -0,0 +1,554 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.21869902800000005,
+                        0.16301016000000004,
+                        0.064043456
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware037/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "shrimp",
+                    "meat",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "shrimp",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp012/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware037/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "avocado",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "avocado",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_8/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "garlic",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "garlic",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_5/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the shrimp and place it on the second highest rack of the freezer. Then take the vegetable container that has the avocado and garlic and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.7933342257766502,
+        -0.7709727517409269,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000199/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000199/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0426f625224c72b953680fa7ce1ccb6d8b843cf4
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000199/ep_meta.json
@@ -0,0 +1,556 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.21624000000000004,
+                        0.15623854800000003,
+                        0.07119842400000001
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware036/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "fish",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "fish",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_7/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware040/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.075144864,
+                    0.075144864
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "lemon",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "food_set1"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "lemon",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_6/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.075144864,
+                    0.075144864
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "mushroom",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "mushroom",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_6/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the fish and place it on the second highest rack of the freezer. Then take the vegetable container that has the lemon and mushroom and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.831297812467843,
+        -0.8078412518546615,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000208/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000208/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..09815245e0bc02c8d1f09b50abb88dbc219bc189
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000208/ep_meta.json
@@ -0,0 +1,555 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.22472085600000005,
+                        0.22401138,
+                        0.061488560000000005
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware038/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "fish",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "fish",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_5/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware040/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.075144864,
+                    0.075144864
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "garlic",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "garlic",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_5/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.075144864,
+                    0.075144864
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "garlic",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "garlic",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_5/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the fish and place it on the second highest rack of the freezer. Then take the vegetable container that has the garlics and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.807463619964649,
+        -0.8134598964366262,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000214/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000214/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..927e9197ddbedc44cfc94ebd99e15e9cbc8d7865
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000214/ep_meta.json
@@ -0,0 +1,555 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.21624000000000004,
+                        0.15623854800000003,
+                        0.07119842400000001
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware036/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "chicken_drumstick",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "chicken_drumstick",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick012/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware037/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tomato",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "tomato",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_8/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "mushroom",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "mushroom",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_4/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the chicken drumstick and place it on the second highest rack of the freezer. Then take the vegetable container that has the tomato and mushroom and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.7287659940040265,
+        -0.812896660024767,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000215/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000215/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..67bde7fd70be3ae90986940c642298bd4c728827
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000215/ep_meta.json
@@ -0,0 +1,557 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.2643459000000001,
+                        0.150289728,
+                        0.0483248
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware040/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.075144864,
+                    0.075144864
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "chicken_drumstick",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "chicken_drumstick",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick013/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware039/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "eggplant",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "eggplant",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_3/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "lemon",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "food_set1"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "lemon",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_9/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the chicken drumstick and place it on the second highest rack of the freezer. Then take the vegetable container that has the eggplant and lemon and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.877741337549289,
+        -0.8055849210656523,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000217/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000217/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..267419890205d8f898d971ecbdcb1563abc3d3c4
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000217/ep_meta.json
@@ -0,0 +1,702 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_right_group",
+                    "min_size": [
+                        0.22472085600000005,
+                        0.22401138,
+                        0.061488560000000005
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware038/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "shrimp",
+                    "meat",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "shrimp",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp012/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware037/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "lemon_wedge",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "lemon_wedge",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge012/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "eggplant",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "eggplant",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_4/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the shrimp and place it on the second highest rack of the freezer. Then take the vegetable container that has the lemon wedge and eggplant and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_right_group",
+        "counter": "counter_1_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": [
+        5.550315492753868,
+        -1.6787196547761731,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000218/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000218/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..61b84160a7791e18694f83bd5818e61947ef2982
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000218/ep_meta.json
@@ -0,0 +1,557 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.21624000000000004,
+                        0.15623854800000003,
+                        0.07119842400000001
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware036/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "shrimp",
+                    "meat",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "shrimp",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp012/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware037/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "corn",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "corn",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_4/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "potato",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "food_set1",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "potato",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_9/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the shrimp and place it on the second highest rack of the freezer. Then take the vegetable container that has the corn and potato and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.7995295578703123,
+        -0.7649493589804663,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000228/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000228/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..235366db16d38d5f994f84961abdfb5a94e6b7c1
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000228/ep_meta.json
@@ -0,0 +1,555 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.21869902800000005,
+                        0.16301016000000004,
+                        0.064043456
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware037/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "shrimp",
+                    "meat",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "shrimp",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp010/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware040/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.075144864,
+                    0.075144864
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "mushroom",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "mushroom",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_8/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.075144864,
+                    0.075144864
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "cucumber",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "food_set1"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "cucumber",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_5/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the shrimp and place it on the second highest rack of the freezer. Then take the vegetable container that has the mushroom and cucumber and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.6744587323737612,
+        -0.7883779711758351,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000235/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000235/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..53bdd10f93c9b48d0f75004b171995bfb521df58
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000235/ep_meta.json
@@ -0,0 +1,557 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.202798848,
+                        0.13751854800000002,
+                        0.04816
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware039/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "chicken_drumstick",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "chicken_drumstick",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick013/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware037/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "eggplant",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "eggplant",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_3/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "cucumber",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "food_set1"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "cucumber",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_4/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the chicken drumstick and place it on the second highest rack of the freezer. Then take the vegetable container that has the eggplant and cucumber and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.767089279619053,
+        -0.8002792448848225,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000240/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000240/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4e655f9a8ee09689167cc9812ceeafa6f3d3aff
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000240/ep_meta.json
@@ -0,0 +1,555 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.21869902800000005,
+                        0.16301016000000004,
+                        0.064043456
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware037/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "shrimp",
+                    "meat",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "shrimp",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp010/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware039/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "lemon_wedge",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "lemon_wedge",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge009/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "eggplant",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "eggplant",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_4/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the shrimp and place it on the second highest rack of the freezer. Then take the vegetable container that has the lemon wedge and eggplant and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.8089064501857788,
+        -0.7950795046706545,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000249/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000249/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bd23156814d0bde850fb9c59f688a19dbbfb46f9
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000249/ep_meta.json
@@ -0,0 +1,555 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.2643459000000001,
+                        0.150289728,
+                        0.0483248
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware040/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.075144864,
+                    0.075144864
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "steak",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "steak",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_6/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware036/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "onion",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "onion",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_9/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "garlic",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "garlic",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_5/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the steak and place it on the second highest rack of the freezer. Then take the vegetable container that has the onion and garlic and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.7753756080478214,
+        -0.8169287659842916,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000251/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000251/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..493aa430e1c31bf5d43eea577860096bf3854bb8
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000251/ep_meta.json
@@ -0,0 +1,704 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_right_group",
+                    "min_size": [
+                        0.202798848,
+                        0.13751854800000002,
+                        0.04816
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware039/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "fish",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "fish",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_6/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware038/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tomato",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "tomato",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_6/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "potato",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "food_set1",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "potato",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_5/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the fish and place it on the second highest rack of the freezer. Then take the vegetable container that has the tomato and potato and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_right_group",
+        "counter": "counter_1_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": [
+        5.591449291183885,
+        -1.916237516476227,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000252/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000252/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..81521373d4ca2bc2f09c01837b31b042cb54a74d
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000252/ep_meta.json
@@ -0,0 +1,555 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.21869902800000005,
+                        0.16301016000000004,
+                        0.064043456
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware037/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "chicken_drumstick",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "chicken_drumstick",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick013/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware038/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "squash",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "squash",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_3/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "squash",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "squash",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_5/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the chicken drumstick and place it on the second highest rack of the freezer. Then take the vegetable container that has the squashs and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.8049446524195794,
+        -0.7919443240290074,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000254/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000254/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e1e9e0dbc00eed831adebf10bb28850947b622b6
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000254/ep_meta.json
@@ -0,0 +1,702 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_right_group",
+                    "min_size": [
+                        0.22472085600000005,
+                        0.22401138,
+                        0.061488560000000005
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware038/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "chicken_drumstick",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "chicken_drumstick",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick014/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware037/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "squash",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "squash",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_3/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "bell_pepper",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "bell_pepper",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_2/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the chicken drumstick and place it on the second highest rack of the freezer. Then take the vegetable container that has the squash and bell pepper and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_right_group",
+        "counter": "counter_1_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": [
+        5.62979914520234,
+        -1.8412424270724945,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000255/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000255/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f3e20b9ae76754cbeb2f4097fb6e9b7fa9f4b26e
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000255/ep_meta.json
@@ -0,0 +1,556 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.202798848,
+                        0.13751854800000002,
+                        0.04816
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware039/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "shrimp",
+                    "meat",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "shrimp",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp011/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware038/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "corn",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "corn",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_3/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "broccoli",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "broccoli",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_3/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the shrimp and place it on the second highest rack of the freezer. Then take the vegetable container that has the corn and broccoli and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.6912371840268732,
+        -0.7921463199037918,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000258/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000258/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bfda77c0ff97eeba310484d1b86abaab2e142774
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000258/ep_meta.json
@@ -0,0 +1,558 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.22472085600000005,
+                        0.22401138,
+                        0.061488560000000005
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware038/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "fish",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "fish",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_8/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware036/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "eggplant",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "eggplant",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_4/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "carrot",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "food_set1",
+                    "group1"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "carrot",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_7/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the fish and place it on the second highest rack of the freezer. Then take the vegetable container that has the eggplant and carrot and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.7287412916105291,
+        -0.7926965285713058,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000259/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000259/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2f1aec28a1e0c7d4c948b3910eafeee9bf3cb00d
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000259/ep_meta.json
@@ -0,0 +1,556 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.202798848,
+                        0.13751854800000002,
+                        0.04816
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware039/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "chicken_drumstick",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "chicken_drumstick",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick012/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware036/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "lemon",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "food_set1"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "lemon",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_8/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "avocado",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "avocado",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_8/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the chicken drumstick and place it on the second highest rack of the freezer. Then take the vegetable container that has the lemon and avocado and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.7245390034746457,
+        -0.7633040266285249,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000260/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000260/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..8fde4be3d20b768123341c446bf9d9053eb47c70
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000260/ep_meta.json
@@ -0,0 +1,556 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.21869902800000005,
+                        0.16301016000000004,
+                        0.064043456
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware037/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "chicken_drumstick",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "chicken_drumstick",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick013/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware036/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tomato",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "tomato",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_5/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "corn",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "corn",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_3/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the chicken drumstick and place it on the second highest rack of the freezer. Then take the vegetable container that has the tomato and corn and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.809599294120118,
+        -0.7679998967692515,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000261/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000261/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e2cc219576cc51deecfe312c4724783d6710bb24
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000261/ep_meta.json
@@ -0,0 +1,702 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_right_group",
+                    "min_size": [
+                        0.21869902800000005,
+                        0.16301016000000004,
+                        0.064043456
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware037/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "shrimp",
+                    "meat",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "shrimp",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp011/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware040/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.075144864,
+                    0.075144864
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tomato",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "tomato",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_6/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.075144864,
+                    0.075144864
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "corn",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "corn",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_3/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the shrimp and place it on the second highest rack of the freezer. Then take the vegetable container that has the tomato and corn and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_right_group",
+        "counter": "counter_1_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": [
+        5.6246980140650376,
+        -1.8782939578012985,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000271/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000271/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..06c197888cde78101445c42bb31d892d30b4aa38
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000271/ep_meta.json
@@ -0,0 +1,557 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.21624000000000004,
+                        0.15623854800000003,
+                        0.07119842400000001
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware036/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "fish",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "fish",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_6/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware037/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "lime",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "lime",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_2/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "carrot",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "food_set1",
+                    "group1"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "carrot",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_7/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the fish and place it on the second highest rack of the freezer. Then take the vegetable container that has the lime and carrot and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.7796990878323957,
+        -0.8069543167755542,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000272/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000272/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..6acb9e08ea09b93e779d6ce8dae3098b29c3e5f0
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000272/ep_meta.json
@@ -0,0 +1,555 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.202798848,
+                        0.13751854800000002,
+                        0.04816
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware039/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "shrimp",
+                    "meat",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "shrimp",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp011/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware039/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "eggplant",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "eggplant",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_3/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "bell_pepper",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "bell_pepper",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_2/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the shrimp and place it on the second highest rack of the freezer. Then take the vegetable container that has the eggplant and bell pepper and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.752636334635171,
+        -0.8140722918017557,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000274/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000274/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1afc08f0d8fd9f9ee285254d50d0016c225e2f4a
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000274/ep_meta.json
@@ -0,0 +1,702 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_right_group",
+                    "min_size": [
+                        0.202798848,
+                        0.13751854800000002,
+                        0.04816
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware039/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "shrimp",
+                    "meat",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "shrimp",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp010/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware039/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "cucumber",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "food_set1"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "cucumber",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_3/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "garlic",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "garlic",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_5/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the shrimp and place it on the second highest rack of the freezer. Then take the vegetable container that has the cucumber and garlic and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_right_group",
+        "counter": "counter_1_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": [
+        5.557317623815393,
+        -1.9010707950355694,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000276/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000276/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..04d2954dd8c77817b9ebc4055aae61c2a3a35e82
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000276/ep_meta.json
@@ -0,0 +1,555 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.2643459000000001,
+                        0.150289728,
+                        0.0483248
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware040/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.075144864,
+                    0.075144864
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "fish",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "fish",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_6/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware038/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "mushroom",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "mushroom",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_5/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "lemon_wedge",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "lemon_wedge",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge011/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the fish and place it on the second highest rack of the freezer. Then take the vegetable container that has the mushroom and lemon wedge and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.750388993377912,
+        -0.814624973922752,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000277/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000277/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3eb633c72328df3752bcb638dc8553b3f0516d0
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000277/ep_meta.json
@@ -0,0 +1,703 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_right_group",
+                    "min_size": [
+                        0.21624000000000004,
+                        0.15623854800000003,
+                        0.07119842400000001
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware036/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "chicken_drumstick",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "chicken_drumstick",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick011/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware038/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tomato",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "tomato",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_8/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "broccoli",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "broccoli",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_3/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the chicken drumstick and place it on the second highest rack of the freezer. Then take the vegetable container that has the tomato and broccoli and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_right_group",
+        "counter": "counter_1_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": [
+        5.593351901970494,
+        -1.6719823167478662,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000283/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000283/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..efd6061bf3682a0a52da6b1e0c15aad0bdaf0a77
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000283/ep_meta.json
@@ -0,0 +1,703 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_right_group",
+                    "min_size": [
+                        0.22472085600000005,
+                        0.22401138,
+                        0.061488560000000005
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware038/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "fish",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "fish",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_5/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware036/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "mushroom",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "mushroom",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_9/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "eggplant",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "eggplant",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_3/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the fish and place it on the second highest rack of the freezer. Then take the vegetable container that has the mushroom and eggplant and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_right_group",
+        "counter": "counter_1_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": [
+        5.626170223629848,
+        -1.8545878719464994,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000287/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000287/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..002ca13858028aef232c564e8e9b26fe3fceea6f
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000287/ep_meta.json
@@ -0,0 +1,704 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_right_group",
+                    "min_size": [
+                        0.202798848,
+                        0.13751854800000002,
+                        0.04816
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware039/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "shrimp",
+                    "meat",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "shrimp",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp012/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware036/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "corn",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "corn",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_4/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "potato",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "food_set1",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "potato",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_8/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the shrimp and place it on the second highest rack of the freezer. Then take the vegetable container that has the corn and potato and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_right_group",
+        "counter": "counter_1_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": [
+        5.593134825426707,
+        -1.7905432574701208,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000291/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000291/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0e58bc05c19d163a9ca655f255952dcde83d1315
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000291/ep_meta.json
@@ -0,0 +1,628 @@
+{
+    "layout_id": 9,
+    "style_id": 9,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_1_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_right_group",
+                    "min_size": [
+                        0.202798848,
+                        0.13751854800000002,
+                        0.04816
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware039/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.5169929026218261,
+                    0.65
+                ],
+                "offset": [
+                    0.49150354868908686,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "shrimp",
+                    "meat",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "shrimp",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp012/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_1_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware039/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.5169929026218261,
+                    0.65
+                ],
+                "offset": [
+                    0.49150354868908686,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "avocado",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "avocado",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_8/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "potato",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "food_set1",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "potato",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_5/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_1_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_2_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "salt_shaker_front_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_front_group_auxiliary_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "plant_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_left_group": {
+            "cls": "Accessory"
+        },
+        "stack_left_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_right_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "cab_top_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_right_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "side_bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "side_bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_3": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the shrimp and place it on the second highest rack of the freezer. Then take the vegetable container that has the avocado and potato and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_right_group",
+        "counter": "counter_1_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.705048375241854,
+        -0.8267491555198746,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000293/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000293/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..38150e226512ef750211f719d5197afb840ddddc
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000293/ep_meta.json
@@ -0,0 +1,556 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.22472085600000005,
+                        0.22401138,
+                        0.061488560000000005
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware038/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "fish",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "fish",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_5/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware039/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "lemon_wedge",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "lemon_wedge",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge012/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sweet_potato",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "sweet_potato",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_3/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the fish and place it on the second highest rack of the freezer. Then take the vegetable container that has the lemon wedge and sweet potato and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.7073288828874436,
+        -0.8170071588727783,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000295/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000295/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1ffddca0fc0d64ffc434e6f0c685c4d9851685d0
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000295/ep_meta.json
@@ -0,0 +1,557 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.21869902800000005,
+                        0.16301016000000004,
+                        0.064043456
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware037/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "fish",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "fish",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_8/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware040/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.075144864,
+                    0.075144864
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "corn",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "corn",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_3/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.075144864,
+                    0.075144864
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "eggplant",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "eggplant",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_4/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the fish and place it on the second highest rack of the freezer. Then take the vegetable container that has the corn and eggplant and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.6727154317112403,
+        -0.7720823601158916,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000296/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000296/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..635139f12294837d882b8255173669c5eb1c2b25
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000296/ep_meta.json
@@ -0,0 +1,702 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_right_group",
+                    "min_size": [
+                        0.21624000000000004,
+                        0.15623854800000003,
+                        0.07119842400000001
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware036/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "fish",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "fish",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_6/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware038/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tomato",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "tomato",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_5/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "squash",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "squash",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_7/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the fish and place it on the second highest rack of the freezer. Then take the vegetable container that has the tomato and squash and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_right_group",
+        "counter": "counter_1_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": [
+        5.582365800965222,
+        -1.9466264124211317,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000298/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000298/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4a975c472e5bc7df7c569aa6a1ee273b058ffe32
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000298/ep_meta.json
@@ -0,0 +1,555 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.2643459000000001,
+                        0.150289728,
+                        0.0483248
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware040/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.075144864,
+                    0.075144864
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "steak",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "steak",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_6/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware037/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "bell_pepper",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "bell_pepper",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_2/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "lemon_wedge",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "lemon_wedge",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge010/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the steak and place it on the second highest rack of the freezer. Then take the vegetable container that has the bell pepper and lemon wedge and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.8336329275168148,
+        -0.7704631809415545,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000300/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000300/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..581d9b8721e1cf21d7b8387ffa3650d32bc454e3
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000300/ep_meta.json
@@ -0,0 +1,557 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.2643459000000001,
+                        0.150289728,
+                        0.0483248
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware040/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.075144864,
+                    0.075144864
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "fish",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "fish",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_7/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware038/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "bell_pepper",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "bell_pepper",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_3/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "potato",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "food_set1",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "potato",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_8/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the fish and place it on the second highest rack of the freezer. Then take the vegetable container that has the bell pepper and potato and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.679090649026935,
+        -0.7883713548757904,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000306/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000306/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9b0f8072dd9bb5fcafb97be9ec9fa1fe72a5c49c
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000306/ep_meta.json
@@ -0,0 +1,556 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.21624000000000004,
+                        0.15623854800000003,
+                        0.07119842400000001
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware036/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "chicken_drumstick",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "chicken_drumstick",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick013/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware040/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.075144864,
+                    0.075144864
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "eggplant",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "eggplant",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_3/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.075144864,
+                    0.075144864
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "bell_pepper",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "bell_pepper",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_3/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the chicken drumstick and place it on the second highest rack of the freezer. Then take the vegetable container that has the eggplant and bell pepper and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.7621387520833391,
+        -0.7946252876588228,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000311/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000311/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9fe225228e3c21c1299fa743457f7a66c54c0914
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000311/ep_meta.json
@@ -0,0 +1,702 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_right_group",
+                    "min_size": [
+                        0.21624000000000004,
+                        0.15623854800000003,
+                        0.07119842400000001
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware036/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "fish",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "fish",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_7/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware037/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tomato",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "tomato",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_7/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "squash",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "squash",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_16/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the fish and place it on the second highest rack of the freezer. Then take the vegetable container that has the tomato and squash and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_right_group",
+        "counter": "counter_1_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": [
+        5.5823161329699165,
+        -1.8687160958947968,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000317/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000317/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f7ccd2a08c860921427fafd4ba22dc94c774caf2
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000317/ep_meta.json
@@ -0,0 +1,702 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_right_group",
+                    "min_size": [
+                        0.2643459000000001,
+                        0.150289728,
+                        0.0483248
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware040/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.075144864,
+                    0.075144864
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "fish",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "fish",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_7/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware037/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "lemon_wedge",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "lemon_wedge",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge011/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "lime",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "lime",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_3/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the fish and place it on the second highest rack of the freezer. Then take the vegetable container that has the lemon wedge and lime and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_right_group",
+        "counter": "counter_1_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": [
+        5.581246530147178,
+        -1.8318820309040653,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000318/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000318/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..05ee4290c0f614702729337c8c880d9d9048ddf8
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000318/ep_meta.json
@@ -0,0 +1,555 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.21869902800000005,
+                        0.16301016000000004,
+                        0.064043456
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware037/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "chicken_drumstick",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "chicken_drumstick",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick011/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware037/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tomato",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "tomato",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_8/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "avocado",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "avocado",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_8/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the chicken drumstick and place it on the second highest rack of the freezer. Then take the vegetable container that has the tomato and avocado and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.7291626512681002,
+        -0.7540626900030573,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000323/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000323/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..98c42cf64c708537d0bdec3d5b97d5659b8164db
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000323/ep_meta.json
@@ -0,0 +1,555 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.21869902800000005,
+                        0.16301016000000004,
+                        0.064043456
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware037/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "chicken_drumstick",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "chicken_drumstick",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick013/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware037/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "garlic",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "garlic",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_4/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "avocado",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "avocado",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_5/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the chicken drumstick and place it on the second highest rack of the freezer. Then take the vegetable container that has the garlic and avocado and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.6858667297524497,
+        -0.81519678442854,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000325/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000325/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..b3f06d85d6987e600068aad9a36aff8414509a3d
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000325/ep_meta.json
@@ -0,0 +1,704 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_right_group",
+                    "min_size": [
+                        0.21869902800000005,
+                        0.16301016000000004,
+                        0.064043456
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware037/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "steak",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "steak",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_6/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware036/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "mushroom",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "mushroom",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_9/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "carrot",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "food_set1",
+                    "group1"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "carrot",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_6/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the steak and place it on the second highest rack of the freezer. Then take the vegetable container that has the mushroom and carrot and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_right_group",
+        "counter": "counter_1_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": [
+        5.577928770045754,
+        -1.8228251358954937,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000329/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000329/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f4be55b0f3829d64ed07e2c483897e7164bd8aae
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000329/ep_meta.json
@@ -0,0 +1,556 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.202798848,
+                        0.13751854800000002,
+                        0.04816
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware039/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "fish",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "fish",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_7/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware039/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "bell_pepper",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "bell_pepper",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_2/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "cucumber",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "food_set1"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "cucumber",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_3/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the fish and place it on the second highest rack of the freezer. Then take the vegetable container that has the bell pepper and cucumber and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.8827498071261646,
+        -0.7671749425970658,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000330/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000330/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..672ddca522b9c0a7dfda36da0352febac996d13e
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000330/ep_meta.json
@@ -0,0 +1,630 @@
+{
+    "layout_id": 9,
+    "style_id": 9,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_1_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_right_group",
+                    "min_size": [
+                        0.21869902800000005,
+                        0.16301016000000004,
+                        0.064043456
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware037/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.5169929026218261,
+                    0.65
+                ],
+                "offset": [
+                    0.49150354868908686,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "chicken_drumstick",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "chicken_drumstick",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick011/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_1_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware037/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.5169929026218261,
+                    0.65
+                ],
+                "offset": [
+                    0.49150354868908686,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "potato",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "food_set1",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "potato",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_9/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "corn",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "corn",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_4/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_1_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_2_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "salt_shaker_front_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_front_group_auxiliary_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "plant_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_left_group": {
+            "cls": "Accessory"
+        },
+        "stack_left_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_right_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "cab_top_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_right_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "side_bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "side_bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_3": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the chicken drumstick and place it on the second highest rack of the freezer. Then take the vegetable container that has the potato and corn and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_right_group",
+        "counter": "counter_1_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.710639324899865,
+        -0.8083305284181223,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000337/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000337/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a91597511cbb485b1ff10b5611eaec985410ce73
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000337/ep_meta.json
@@ -0,0 +1,558 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.22472085600000005,
+                        0.22401138,
+                        0.061488560000000005
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware038/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "chicken_drumstick",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "chicken_drumstick",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick010/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware039/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "carrot",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "food_set1",
+                    "group1"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "carrot",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_6/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "cucumber",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "food_set1"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "cucumber",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_4/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the chicken drumstick and place it on the second highest rack of the freezer. Then take the vegetable container that has the carrot and cucumber and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.896026407030198,
+        -0.7625337529859286,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000339/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000339/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..249ee62adf2d5ae8ba9fab31248874d074caf564
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000339/ep_meta.json
@@ -0,0 +1,704 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_right_group",
+                    "min_size": [
+                        0.22472085600000005,
+                        0.22401138,
+                        0.061488560000000005
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware038/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "fish",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "fish",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_8/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware036/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sweet_potato",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "sweet_potato",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_3/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sweet_potato",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "sweet_potato",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_3/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the fish and place it on the second highest rack of the freezer. Then take the vegetable container that has the sweet potatos and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_right_group",
+        "counter": "counter_1_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": [
+        5.6371210234812805,
+        -1.9585282057980644,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000340/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000340/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..99882f4f8d6ac13e85df97d0cc9db51b1ba8c404
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000340/ep_meta.json
@@ -0,0 +1,555 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.2643459000000001,
+                        0.150289728,
+                        0.0483248
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware040/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.075144864,
+                    0.075144864
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "shrimp",
+                    "meat",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "shrimp",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp012/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware038/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "lime",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "lime",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_3/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "cucumber",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "food_set1"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "cucumber",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_4/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the shrimp and place it on the second highest rack of the freezer. Then take the vegetable container that has the lime and cucumber and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.7682137345652171,
+        -0.7557962552412509,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000349/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000349/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f0f25851c91dc630bf1576b5a3a044e53d442a29
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000349/ep_meta.json
@@ -0,0 +1,556 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.21869902800000005,
+                        0.16301016000000004,
+                        0.064043456
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware037/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "shrimp",
+                    "meat",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "shrimp",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp011/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware037/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "lemon",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "food_set1"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "lemon",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_8/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "cucumber",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "food_set1"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "cucumber",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_4/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the shrimp and place it on the second highest rack of the freezer. Then take the vegetable container that has the lemon and cucumber and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.7035442770154094,
+        -0.7881033642444794,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000353/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000353/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..77ab2a2e79e78cee7b642742aebd8e9f930929c6
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000353/ep_meta.json
@@ -0,0 +1,555 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.22472085600000005,
+                        0.22401138,
+                        0.061488560000000005
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware038/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "steak",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "steak",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_8/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware038/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "lemon_wedge",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "lemon_wedge",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge010/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "lime",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "lime",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_2/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the steak and place it on the second highest rack of the freezer. Then take the vegetable container that has the lemon wedge and lime and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.7910792721268767,
+        -0.8086535922126336,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000357/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000357/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ee7896c6c1d9ca3799d83b1c2facb5c158e26fd1
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000357/ep_meta.json
@@ -0,0 +1,701 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_right_group",
+                    "min_size": [
+                        0.202798848,
+                        0.13751854800000002,
+                        0.04816
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware039/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "shrimp",
+                    "meat",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "shrimp",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp011/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware039/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "squash",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "squash",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_3/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "lime",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "lime",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_3/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the shrimp and place it on the second highest rack of the freezer. Then take the vegetable container that has the squash and lime and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_right_group",
+        "counter": "counter_1_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": [
+        5.623200471024178,
+        -1.716129444471457,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000365/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000365/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..4b7e588e529fa51a9a077deb55d5f53ade7424ef
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000365/ep_meta.json
@@ -0,0 +1,556 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.2643459000000001,
+                        0.150289728,
+                        0.0483248
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware040/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.075144864,
+                    0.075144864
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "shrimp",
+                    "meat",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "shrimp",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp010/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware037/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "lemon",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "food_set1"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "lemon",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_6/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "cucumber",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "food_set1"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "cucumber",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_3/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the shrimp and place it on the second highest rack of the freezer. Then take the vegetable container that has the lemon and cucumber and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
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+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                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": [
+        1.7454611893932501,
+        -0.7983701652437863,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000367/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000367/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ad506550cef2dea1e4569f1131e93262d7ca4b48
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000367/ep_meta.json
@@ -0,0 +1,556 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.21869902800000005,
+                        0.16301016000000004,
+                        0.064043456
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware037/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "steak",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "steak",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_9/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware038/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "cucumber",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "food_set1"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "cucumber",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_4/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "mushroom",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "mushroom",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_4/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the steak and place it on the second highest rack of the freezer. Then take the vegetable container that has the cucumber and mushroom and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.8692270418631687,
+        -0.7668085272218557,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000380/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000380/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..3756f9e25f26f50f8587d2b41b70ffa04598e8f1
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000380/ep_meta.json
@@ -0,0 +1,556 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.202798848,
+                        0.13751854800000002,
+                        0.04816
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware039/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "chicken_drumstick",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "chicken_drumstick",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick011/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware038/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "onion",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "onion",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_7/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "eggplant",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "eggplant",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_3/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the chicken drumstick and place it on the second highest rack of the freezer. Then take the vegetable container that has the onion and eggplant and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.6690350352757295,
+        -0.7598154501470863,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000382/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000382/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a05cc6009d8cfe308c9e3d5938d4aebd03d0fd7
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000382/ep_meta.json
@@ -0,0 +1,555 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.202798848,
+                        0.13751854800000002,
+                        0.04816
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware039/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "chicken_drumstick",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "chicken_drumstick",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick012/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware039/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "bell_pepper",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "bell_pepper",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_2/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "squash",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "squash",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_7/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the chicken drumstick and place it on the second highest rack of the freezer. Then take the vegetable container that has the bell pepper and squash and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.6882318756305075,
+        -0.8029597587022608,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000384/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000384/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..82c06b61c42b1c6fe45238211daae73a4fe1e601
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000384/ep_meta.json
@@ -0,0 +1,555 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.2643459000000001,
+                        0.150289728,
+                        0.0483248
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware040/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.075144864,
+                    0.075144864
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "shrimp",
+                    "meat",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "shrimp",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp011/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware038/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "corn",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "corn",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_3/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "avocado",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "avocado",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_6/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the shrimp and place it on the second highest rack of the freezer. Then take the vegetable container that has the corn and avocado and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.896974748485019,
+        -0.7724223753712568,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000395/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000395/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5dbcfb7efc9044d25b5eae8558b5df3aacc8b9af
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000395/ep_meta.json
@@ -0,0 +1,556 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.21624000000000004,
+                        0.15623854800000003,
+                        0.07119842400000001
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware036/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "fish",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "fish",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_9/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware038/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "onion",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "onion",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_9/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "corn",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "corn",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_4/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the fish and place it on the second highest rack of the freezer. Then take the vegetable container that has the onion and corn and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.6618716867666985,
+        -0.8179770109177521,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000399/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000399/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..da16d1af36e6174e9b64cf08eb9ae22b8272cb77
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000399/ep_meta.json
@@ -0,0 +1,557 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.21869902800000005,
+                        0.16301016000000004,
+                        0.064043456
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware037/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "fish",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "fish",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_7/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware039/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "carrot",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "food_set1",
+                    "group1"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "carrot",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_7/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "mushroom",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "mushroom",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_6/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the fish and place it on the second highest rack of the freezer. Then take the vegetable container that has the carrot and mushroom and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.683835267043846,
+        -0.7934679784662777,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000400/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000400/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..587ec430510f873cc9e8dbda44f5b02f11104fa4
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000400/ep_meta.json
@@ -0,0 +1,704 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_right_group",
+                    "min_size": [
+                        0.2643459000000001,
+                        0.150289728,
+                        0.0483248
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware040/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.075144864,
+                    0.075144864
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "shrimp",
+                    "meat",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "shrimp",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp011/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware036/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "potato",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "food_set1",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "potato",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_8/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "cucumber",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "food_set1"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "cucumber",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_3/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the shrimp and place it on the second highest rack of the freezer. Then take the vegetable container that has the potato and cucumber and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_right_group",
+        "counter": "counter_1_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": [
+        5.57531732463535,
+        -1.813974120784356,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000404/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000404/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..092bece1447bec760493c4323a295caca5b2db12
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000404/ep_meta.json
@@ -0,0 +1,704 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_right_group",
+                    "min_size": [
+                        0.22472085600000005,
+                        0.22401138,
+                        0.061488560000000005
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware038/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "fish",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "fish",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_6/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware038/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "broccoli",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "broccoli",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_3/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "cucumber",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "food_set1"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "cucumber",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_5/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the fish and place it on the second highest rack of the freezer. Then take the vegetable container that has the broccoli and cucumber and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_right_group",
+        "counter": "counter_1_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": [
+        5.579958733475198,
+        -1.6743462508225795,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000405/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000405/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..300c118792a6f43476e7b2b1fe7d0c743abcc7fb
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000405/ep_meta.json
@@ -0,0 +1,703 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_right_group",
+                    "min_size": [
+                        0.202798848,
+                        0.13751854800000002,
+                        0.04816
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware039/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "shrimp",
+                    "meat",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "shrimp",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp012/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware037/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "eggplant",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "eggplant",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_4/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "lemon",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "food_set1"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "lemon",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_8/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the shrimp and place it on the second highest rack of the freezer. Then take the vegetable container that has the eggplant and lemon and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_right_group",
+        "counter": "counter_1_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": [
+        5.597822613141475,
+        -1.8025930112025697,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000406/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000406/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..bc3d985301d91e3cf50bbcda859ffb017e4f1c6f
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000406/ep_meta.json
@@ -0,0 +1,556 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.21869902800000005,
+                        0.16301016000000004,
+                        0.064043456
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware037/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "chicken_drumstick",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "chicken_drumstick",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick012/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware036/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "corn",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "corn",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_4/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "lime",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "lime",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_2/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the chicken drumstick and place it on the second highest rack of the freezer. Then take the vegetable container that has the corn and lime and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.6530357800697508,
+        -0.7833568131217675,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000412/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000412/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..62cb820ab73eefac26f3e8b84200cc3bd77f5284
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000412/ep_meta.json
@@ -0,0 +1,556 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.202798848,
+                        0.13751854800000002,
+                        0.04816
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware039/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "chicken_drumstick",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "chicken_drumstick",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick010/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware039/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "bell_pepper",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "bell_pepper",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_2/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "corn",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "corn",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_3/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the chicken drumstick and place it on the second highest rack of the freezer. Then take the vegetable container that has the bell pepper and corn and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.6314187711087584,
+        -0.8178239953708937,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000418/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000418/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2dd9e1afa389aa3e303a10632cf32e465108fe50
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000418/ep_meta.json
@@ -0,0 +1,704 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_right_group",
+                    "min_size": [
+                        0.202798848,
+                        0.13751854800000002,
+                        0.04816
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware039/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "chicken_drumstick",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "chicken_drumstick",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick014/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware040/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.075144864,
+                    0.075144864
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "lemon",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "food_set1"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "lemon",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_5/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.075144864,
+                    0.075144864
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "cucumber",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "food_set1"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "cucumber",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_3/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the chicken drumstick and place it on the second highest rack of the freezer. Then take the vegetable container that has the lemon and cucumber and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_right_group",
+        "counter": "counter_1_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": [
+        5.608821117147233,
+        -1.8190983373004073,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000423/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000423/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d485db47588e8e39b18e65691d16423aab20e769
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000423/ep_meta.json
@@ -0,0 +1,557 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.2643459000000001,
+                        0.150289728,
+                        0.0483248
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware040/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.075144864,
+                    0.075144864
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "chicken_drumstick",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "chicken_drumstick",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick013/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware039/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "carrot",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "food_set1",
+                    "group1"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "carrot",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_4/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "mushroom",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "mushroom",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_6/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the chicken drumstick and place it on the second highest rack of the freezer. Then take the vegetable container that has the carrot and mushroom and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.6155069689173072,
+        -0.7746523058455171,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000424/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000424/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..79f30c6f18e98f5b221577e53e5f6ce90d02aa5b
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000424/ep_meta.json
@@ -0,0 +1,703 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_right_group",
+                    "min_size": [
+                        0.21869902800000005,
+                        0.16301016000000004,
+                        0.064043456
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware037/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "chicken_drumstick",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "chicken_drumstick",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick012/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware039/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sweet_potato",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "sweet_potato",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_3/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "onion",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "onion",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_6/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the chicken drumstick and place it on the second highest rack of the freezer. Then take the vegetable container that has the sweet potato and onion and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_right_group",
+        "counter": "counter_1_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": [
+        5.6172866212211305,
+        -1.8890008566608338,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000426/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000426/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c84fbcc665768ff7b9463ac3f3324ff64146696c
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000426/ep_meta.json
@@ -0,0 +1,703 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_right_group",
+                    "min_size": [
+                        0.21624000000000004,
+                        0.15623854800000003,
+                        0.07119842400000001
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware036/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "fish",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "fish",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_8/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware039/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "corn",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "corn",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_3/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tomato",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "tomato",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_5/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the fish and place it on the second highest rack of the freezer. Then take the vegetable container that has the corn and tomato and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_right_group",
+        "counter": "counter_1_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": [
+        5.6054155390746265,
+        -1.946557523714023,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000430/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000430/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d9fc31d77c7bdbc03046454b7e024e75cbaefbb
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000430/ep_meta.json
@@ -0,0 +1,701 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_right_group",
+                    "min_size": [
+                        0.202798848,
+                        0.13751854800000002,
+                        0.04816
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware039/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "shrimp",
+                    "meat",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "shrimp",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp012/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware040/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.075144864,
+                    0.075144864
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tomato",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "tomato",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_5/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.075144864,
+                    0.075144864
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "lemon_wedge",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "lemon_wedge",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge012/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the shrimp and place it on the second highest rack of the freezer. Then take the vegetable container that has the tomato and lemon wedge and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_right_group",
+        "counter": "counter_1_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": [
+        5.621351922040143,
+        -1.8746460218322647,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000432/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000432/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9157340a506819a25f014e4e83c25ab9d6c7c4ae
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000432/ep_meta.json
@@ -0,0 +1,555 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.2643459000000001,
+                        0.150289728,
+                        0.0483248
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware040/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.075144864,
+                    0.075144864
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "shrimp",
+                    "meat",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "shrimp",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp010/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware037/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "mushroom",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "mushroom",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_9/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "corn",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "corn",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_3/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the shrimp and place it on the second highest rack of the freezer. Then take the vegetable container that has the mushroom and corn and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.8745140446857524,
+        -0.8030658874117662,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000436/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000436/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..1b77bb5508cd545ac69d1b7054501345904e6f40
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000436/ep_meta.json
@@ -0,0 +1,703 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_right_group",
+                    "min_size": [
+                        0.21624000000000004,
+                        0.15623854800000003,
+                        0.07119842400000001
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware036/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "steak",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "steak",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_8/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware039/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "corn",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "corn",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_3/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "bell_pepper",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "bell_pepper",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_2/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the steak and place it on the second highest rack of the freezer. Then take the vegetable container that has the corn and bell pepper and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_right_group",
+        "counter": "counter_1_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": [
+        5.610351746009339,
+        -1.7461594071216417,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000441/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000441/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f6114c9102451e2cd63c87e403372281c49432e8
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000441/ep_meta.json
@@ -0,0 +1,703 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_right_group",
+                    "min_size": [
+                        0.2643459000000001,
+                        0.150289728,
+                        0.0483248
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware040/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.075144864,
+                    0.075144864
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "steak",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "steak",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_8/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware038/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "lemon",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "food_set1"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "lemon",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_7/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "bell_pepper",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "bell_pepper",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_2/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the steak and place it on the second highest rack of the freezer. Then take the vegetable container that has the lemon and bell pepper and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_right_group",
+        "counter": "counter_1_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": [
+        5.630749228137811,
+        -1.7875382737250878,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000442/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000442/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..5135f75736a20a32e79d636988d5f56bc76019d6
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000442/ep_meta.json
@@ -0,0 +1,703 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_right_group",
+                    "min_size": [
+                        0.2643459000000001,
+                        0.150289728,
+                        0.0483248
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware040/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.075144864,
+                    0.075144864
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "fish",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "fish",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_8/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware038/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "avocado",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "avocado",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_8/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "corn",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "corn",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_3/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the fish and place it on the second highest rack of the freezer. Then take the vegetable container that has the avocado and corn and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_right_group",
+        "counter": "counter_1_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": [
+        5.619740042334688,
+        -1.829291476454608,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000443/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000443/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..9eb92b53c9011abc11d124da0252c2c21b384a82
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000443/ep_meta.json
@@ -0,0 +1,556 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.22472085600000005,
+                        0.22401138,
+                        0.061488560000000005
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware038/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "chicken_drumstick",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "chicken_drumstick",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick012/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware040/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.075144864,
+                    0.075144864
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sweet_potato",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "sweet_potato",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_3/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.075144864,
+                    0.075144864
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tomato",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "tomato",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_6/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the chicken drumstick and place it on the second highest rack of the freezer. Then take the vegetable container that has the sweet potato and tomato and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.6371978706861965,
+        -0.815502149507604,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000444/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000444/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..94ee7b2673e309f18ab182f3b459ffa9b6b9e469
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000444/ep_meta.json
@@ -0,0 +1,703 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_right_group",
+                    "min_size": [
+                        0.21624000000000004,
+                        0.15623854800000003,
+                        0.07119842400000001
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware036/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "steak",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "steak",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_5/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware039/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "corn",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "corn",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_3/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "lime",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "lime",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_2/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the steak and place it on the second highest rack of the freezer. Then take the vegetable container that has the corn and lime and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_right_group",
+        "counter": "counter_1_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": [
+        5.621562697847307,
+        -1.9374425045930481,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000446/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000446/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f2de87ca77bab39bb88c15eab0bf06859f2238af
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000446/ep_meta.json
@@ -0,0 +1,705 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_right_group",
+                    "min_size": [
+                        0.202798848,
+                        0.13751854800000002,
+                        0.04816
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware039/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "chicken_drumstick",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "chicken_drumstick",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick014/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware037/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "cucumber",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "food_set1"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "cucumber",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_3/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "carrot",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "food_set1",
+                    "group1"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "carrot",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_6/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the chicken drumstick and place it on the second highest rack of the freezer. Then take the vegetable container that has the cucumber and carrot and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_right_group",
+        "counter": "counter_1_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": [
+        5.550183596724073,
+        -1.8945589936416776,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000448/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000448/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..7bdafe40035a86b37a125e227c5edbb7b7f8e491
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000448/ep_meta.json
@@ -0,0 +1,556 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.21869902800000005,
+                        0.16301016000000004,
+                        0.064043456
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware037/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "chicken_drumstick",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "chicken_drumstick",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick013/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware038/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "onion",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "onion",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_9/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sweet_potato",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "sweet_potato",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_3/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the chicken drumstick and place it on the second highest rack of the freezer. Then take the vegetable container that has the onion and sweet potato and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.8565595447982635,
+        -0.8062318803862715,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000449/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000449/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d239e9c8cb69c59cf00f491706dc8ab48d0e899d
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000449/ep_meta.json
@@ -0,0 +1,703 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_right_group",
+                    "min_size": [
+                        0.202798848,
+                        0.13751854800000002,
+                        0.04816
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware039/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "chicken_drumstick",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "chicken_drumstick",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick011/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware039/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "corn",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "corn",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_4/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "onion",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "onion",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_8/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the chicken drumstick and place it on the second highest rack of the freezer. Then take the vegetable container that has the corn and onion and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_right_group",
+        "counter": "counter_1_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": [
+        5.599527669834543,
+        -1.8718836903267457,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000450/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000450/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0d4a3fb85c0269af17af7732cd695404b10ef42f
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000450/ep_meta.json
@@ -0,0 +1,555 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.202798848,
+                        0.13751854800000002,
+                        0.04816
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware039/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "shrimp",
+                    "meat",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "shrimp",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp010/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware037/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "bell_pepper",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "bell_pepper",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_3/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sweet_potato",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "sweet_potato",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_3/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the shrimp and place it on the second highest rack of the freezer. Then take the vegetable container that has the bell pepper and sweet potato and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.853665204162391,
+        -0.815827638801387,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000455/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000455/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..14ba81cfd3c28087c3b990894c708dc8d34084fd
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000455/ep_meta.json
@@ -0,0 +1,703 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_right_group",
+                    "min_size": [
+                        0.2643459000000001,
+                        0.150289728,
+                        0.0483248
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware040/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.075144864,
+                    0.075144864
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "chicken_drumstick",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "chicken_drumstick",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick011/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware038/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "lemon_wedge",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "lemon_wedge",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge011/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sweet_potato",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "sweet_potato",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_3/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the chicken drumstick and place it on the second highest rack of the freezer. Then take the vegetable container that has the lemon wedge and sweet potato and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_right_group",
+        "counter": "counter_1_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": [
+        5.555038884537874,
+        -1.7354950895320402,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000458/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000458/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..d7e352c8958258967f61266d4f4fe5d83bf9dbe5
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000458/ep_meta.json
@@ -0,0 +1,704 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_right_group",
+                    "min_size": [
+                        0.21869902800000005,
+                        0.16301016000000004,
+                        0.064043456
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware037/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "fish",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "fish",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_9/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware036/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "lemon",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "food_set1"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "lemon",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_9/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "sweet_potato",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "sweet_potato",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_3/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the fish and place it on the second highest rack of the freezer. Then take the vegetable container that has the lemon and sweet potato and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_right_group",
+        "counter": "counter_1_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": [
+        5.599151193019162,
+        -1.9342883691003991,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000459/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000459/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..e7046eac356fcc4c5760eca8568c6418824cd1bc
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000459/ep_meta.json
@@ -0,0 +1,557 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.21624000000000004,
+                        0.15623854800000003,
+                        0.07119842400000001
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware036/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "chicken_drumstick",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "chicken_drumstick",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick012/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware036/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "corn",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "corn",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_4/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "cucumber",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "food_set1"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "cucumber",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_3/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the chicken drumstick and place it on the second highest rack of the freezer. Then take the vegetable container that has the corn and cucumber and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.7812687573064836,
+        -0.7932928963601343,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000460/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000460/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..63e1c7b8201d77ce6a58947f8abdbd5129ef8b85
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000460/ep_meta.json
@@ -0,0 +1,702 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_right_group",
+                    "min_size": [
+                        0.22472085600000005,
+                        0.22401138,
+                        0.061488560000000005
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware038/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "steak",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "steak",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_5/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware038/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "lemon_wedge",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "lemon_wedge",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge009/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "onion",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "onion",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_8/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the steak and place it on the second highest rack of the freezer. Then take the vegetable container that has the lemon wedge and onion and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_right_group",
+        "counter": "counter_1_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": [
+        5.577753224411892,
+        -1.9677801167972653,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000461/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000461/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..42dc0eecfa70327b8ec0981b8aee1be904892a90
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000461/ep_meta.json
@@ -0,0 +1,557 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.21624000000000004,
+                        0.15623854800000003,
+                        0.07119842400000001
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware036/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "steak",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "steak",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_6/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware036/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tomato",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "tomato",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_5/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "carrot",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "food_set1",
+                    "group1"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "carrot",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_7/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the steak and place it on the second highest rack of the freezer. Then take the vegetable container that has the tomato and carrot and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.6263084338161118,
+        -0.7606728813635699,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000465/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000465/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..a535b4b93587ce460e1596bfd02cf541b9ec6a57
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000465/ep_meta.json
@@ -0,0 +1,703 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_right_group",
+                    "min_size": [
+                        0.21869902800000005,
+                        0.16301016000000004,
+                        0.064043456
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware037/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "steak",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "steak",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_5/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware036/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "eggplant",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "eggplant",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_4/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "lemon_wedge",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "lemon_wedge",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge012/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the steak and place it on the second highest rack of the freezer. Then take the vegetable container that has the eggplant and lemon wedge and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_right_group",
+        "counter": "counter_1_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": [
+        5.609009565095396,
+        -1.7680407341501896,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000467/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000467/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..46cb37f06dc5bad2d824c9159d9483351a697615
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000467/ep_meta.json
@@ -0,0 +1,556 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.21869902800000005,
+                        0.16301016000000004,
+                        0.064043456
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware037/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "shrimp",
+                    "meat",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "shrimp",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp011/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware037/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "lemon",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "food_set1"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "lemon",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_5/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "corn",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "corn",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_4/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the shrimp and place it on the second highest rack of the freezer. Then take the vegetable container that has the lemon and corn and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.8108794816699898,
+        -0.7511234763891168,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000471/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000471/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..0219c9025ded90b46724735384a205fbd8e03538
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000471/ep_meta.json
@@ -0,0 +1,555 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.202798848,
+                        0.13751854800000002,
+                        0.04816
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware039/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "fish",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "fish",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_5/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware039/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "garlic",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "garlic",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_4/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.06875927400000001,
+                    0.06875927400000001
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "garlic",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "garlic",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_5/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the fish and place it on the second highest rack of the freezer. Then take the vegetable container that has the garlics and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.871598911062571,
+        -0.8170306009098127,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000479/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000479/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..2a842204899f12cd5093e0f412a6153bf853ed85
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000479/ep_meta.json
@@ -0,0 +1,702 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_right_group",
+                    "min_size": [
+                        0.21624000000000004,
+                        0.15623854800000003,
+                        0.07119842400000001
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware036/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "fish",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "fish",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_5/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware036/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "onion",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "onion",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_6/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "avocado",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "avocado",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_6/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_right_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_right_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_4": {
+            "cls": "Drawer"
+        },
+        "shelves_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group": {
+            "cls": "Accessory"
+        },
+        "jar_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_cab_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the fish and place it on the second highest rack of the freezer. Then take the vegetable container that has the onion and avocado and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_right_group",
+        "counter": "counter_1_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": [
+        5.605846495554027,
+        -1.9628370211023642,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000486/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000486/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..f95620b39e5673b7f01cd9de704e39d05141f7c6
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000486/ep_meta.json
@@ -0,0 +1,557 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.21624000000000004,
+                        0.15623854800000003,
+                        0.07119842400000001
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware036/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "fish",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "fish",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_8/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware036/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "eggplant",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "eggplant",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_4/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "cucumber",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "food_set1"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "cucumber",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cucumber/cucumber_4/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the fish and place it on the second highest rack of the freezer. Then take the vegetable container that has the eggplant and cucumber and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.7889036683217039,
+        -0.7816428645347834,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000488/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000488/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..003d507cf8143e82fc143dfa6bbe29868c81c104
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000488/ep_meta.json
@@ -0,0 +1,555 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.21624000000000004,
+                        0.15623854800000003,
+                        0.07119842400000001
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware036/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.07811927400000002,
+                    0.07811927400000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "fish",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "fish",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_6/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware037/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "squash",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "squash",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_3/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.08150508000000002,
+                    0.08150508000000002
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "lime",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "lime",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_2/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the fish and place it on the second highest rack of the freezer. Then take the vegetable container that has the squash and lime and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
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+            "parent_body": "mobilebase0_support"
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+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
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+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "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": [
+        1.8730806782372884,
+        -0.7771407337594507,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000497/ep_meta.json b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000497/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..c8a42f69cb11c634330a53fe04470b66d9e42619
--- /dev/null
+++ b/target/composite/SeparateFreezerRack/20250815/lerobot/extras/episode_000497/ep_meta.json
@@ -0,0 +1,555 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "meat_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "fridge_main_group",
+                    "min_size": [
+                        0.2643459000000001,
+                        0.150289728,
+                        0.0483248
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware040/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "meat",
+            "obj_groups": "meat",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.075144864,
+                    0.075144864
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "meat_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "shrimp",
+                    "meat",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "meat"
+                ],
+                "cat": "shrimp",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp010/model.xml"
+            }
+        },
+        {
+            "name": "veg_tupperware",
+            "obj_groups": "tupperware",
+            "object_scale": [
+                1.5,
+                1.5,
+                1
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "reuse_region_from": "meat_tupperware",
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "pos": [
+                    -0.25,
+                    -1.0
+                ],
+                "rotation": 1.5707963267948966
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "tupperware"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware038/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.019460818110389,
+                    0.65
+                ],
+                "offset": [
+                    -1.3902695909448055,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "vegetable1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "eggplant",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "eggplant",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_4/model.xml"
+            }
+        },
+        {
+            "name": "vegetable2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "size": [
+                    0.11200569,
+                    0.11200569
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "veg_tupperware",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "lemon_wedge",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "lemon_wedge",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge011/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Take the meat container that has the shrimp and place it on the second highest rack of the freezer. Then take the vegetable container that has the eggplant and lemon wedge and place it on the highest rack of the freezer.",
+    "fixture_refs": {
+        "fridge": "fridge_main_group",
+        "counter": "counter_main_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": [
+        1.8047379254789073,
+        -0.7638690568023476,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file