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target/composite/ArrangeTea/20250812/lerobot/extras/episode_000017/ep_meta.json

@@ -0,0 +1,516 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": "mug",
+            "graspable": true,
+            "placement": {
+                "fixture": "cab_2_main_group",
+                "size": [
+                    0.5,
+                    0.2
+                ],
+                "pos": [
+                    0,
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "mug",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "mug"
+                ],
+                "cat": "mug",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_7/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    0.0,
+                    -0.43
+                ],
+                "size": [
+                    0.94,
+                    0.34
+                ],
+                "height": 0.2666666666666667,
+                "name": "level0"
+            }
+        },
+        {
+            "name": "obj2",
+            "obj_groups": "kettle",
+            "graspable": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "size": [
+                    0.5,
+                    0.5
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ],
+                "sample_region_kwargs": {
+                    "ref": "cab_2_main_group",
+                    "top_size": [
+                        0.6,
+                        0.4
+                    ],
+                    "min_size": [
+                        0.24276199999999998,
+                        0.19461669999999998,
+                        0.1993079
+                    ]
+                },
+                "offset": [
+                    0.1,
+                    0.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "kettle_non_electric",
+                    "receptacle",
+                    "kettle",
+                    "cookware"
+                ],
+                "groups": [
+                    "kettle"
+                ],
+                "cat": "kettle_non_electric",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/kettle/Kettle019/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.0,
+                    0.65
+                ],
+                "offset": [
+                    1.4,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "container",
+            "obj_groups": "tray",
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "size": [
+                    0.7,
+                    0.7
+                ],
+                "pos": [
+                    "ref",
+                    -0.6
+                ],
+                "offset": [
+                    -0.1,
+                    0.0
+                ],
+                "sample_region_kwargs": {
+                    "ref": "cab_2_main_group",
+                    "top_size": [
+                        0.6,
+                        0.4
+                    ],
+                    "min_size": [
+                        0.22680000756000007,
+                        0.37800000000000017,
+                        0.06105765582000002
+                    ]
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tray",
+                    "receptacle",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "tray"
+                ],
+                "cat": "tray",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_4/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.0,
+                    0.65
+                ],
+                "offset": [
+                    1.4,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Pick the kettle from the counter and place it on the tray. Then pick the mug from the cabinet and place it on the tray. Then close the cabinet doors.",
+    "fixture_refs": {
+        "cab": "cab_2_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": [
+        4.577841316391245,
+        -0.8116313969710857,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}

target/composite/ArrangeTea/20250812/lerobot/extras/episode_000119/ep_meta.json

@@ -0,0 +1,504 @@
+{
+    "layout_id": 4,
+    "style_id": 4,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": "mug",
+            "graspable": true,
+            "placement": {
+                "fixture": "cab_main_main_group",
+                "size": [
+                    0.5,
+                    0.2
+                ],
+                "pos": [
+                    0,
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "mug",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "mug"
+                ],
+                "cat": "mug",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_4/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    0.0,
+                    -0.43
+                ],
+                "size": [
+                    0.94,
+                    0.34
+                ],
+                "height": 0.2666666666666667,
+                "name": "level0"
+            }
+        },
+        {
+            "name": "obj2",
+            "obj_groups": "kettle",
+            "graspable": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "size": [
+                    0.5,
+                    0.5
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ],
+                "sample_region_kwargs": {
+                    "ref": "cab_main_main_group",
+                    "top_size": [
+                        0.6,
+                        0.4
+                    ],
+                    "min_size": [
+                        0.19890180000000002,
+                        0.1355634,
+                        0.19981397
+                    ]
+                },
+                "offset": [
+                    0.1,
+                    0.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "kettle_non_electric",
+                    "receptacle",
+                    "kettle",
+                    "cookware"
+                ],
+                "groups": [
+                    "kettle"
+                ],
+                "cat": "kettle_non_electric",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/kettle/Kettle025/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "container",
+            "obj_groups": "tray",
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "size": [
+                    0.7,
+                    0.7
+                ],
+                "pos": [
+                    "ref",
+                    -0.6
+                ],
+                "offset": [
+                    -0.1,
+                    0.0
+                ],
+                "sample_region_kwargs": {
+                    "ref": "cab_main_main_group",
+                    "top_size": [
+                        0.6,
+                        0.4
+                    ],
+                    "min_size": [
+                        0.22680000756000007,
+                        0.37800000000000017,
+                        0.06105765582000002
+                    ]
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tray",
+                    "receptacle",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "tray"
+                ],
+                "cat": "tray",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_4/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_right_main_group": {
+            "cls": "Counter"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "fridge_cab_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
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+            "cls": "SingleCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_left_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_left_group": {
+            "cls": "Box"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group": {
+            "cls": "SingleCabinet"
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+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
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+        "stack_2_left_group_base": {
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+        },
+        "stack_2_left_group_1": {
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+        "stack_2_left_group_2": {
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+        "stack_3_left_group_base": {
+            "cls": "Box"
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+        "stack_3_left_group_2": {
+            "cls": "Drawer"
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+            "cls": "Drawer"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
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+        "tiered_basket_left_group": {
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+        "island_island_group": {
+            "cls": "Counter"
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+        "plant_island_group": {
+            "cls": "Accessory"
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+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
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+        "salt_shaker_island_group": {
+            "cls": "Accessory"
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+            "cls": "Accessory"
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+    "lang": "Pick the kettle from the counter and place it on the tray. Then pick the mug from the cabinet and place it on the tray. Then close the cabinet doors.",
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+        "robot0_eye_in_hand": {
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+    "init_robot_base_pos": [
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+}

target/composite/ArrangeTea/20250812/lerobot/extras/episode_000153/ep_meta.json

@@ -0,0 +1,414 @@
+{
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+            "cls": "HingeCabinet"
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+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
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+        "microwave_main_group": {
+            "cls": "Microwave"
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+        "cab_micro_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_4_main_group": {
+            "cls": "HingeCabinet"
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+        "stack_1_main_group_base": {
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+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
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+            "cls": "Drawer"
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+        "stack_1_main_group_3": {
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+            "cls": "SingleCabinet"
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+            "cls": "CoffeeMachine"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
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+            "cls": "Accessory"
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+        "glass_cup_3_main_group": {
+            "cls": "Accessory"
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+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Pick the kettle from the counter and place it on the tray. Then pick the mug from the cabinet and place it on the tray. Then close the cabinet doors.",
+    "fixture_refs": {
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+        "counter": "counter_main_main_group"
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+}

target/composite/ArrangeTea/20250812/lerobot/extras/episode_000191/ep_meta.json

@@ -0,0 +1,663 @@
+{
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+        "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": "Pick the kettle from the counter and place it on the tray. Then pick the mug from the cabinet and place it on the tray. Then close the cabinet doors.",
+    "fixture_refs": {
+        "cab": "cab_1_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": [
+        5.637954149016391,
+        -1.111930818026736,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}

target/composite/ArrangeTea/20250812/lerobot/extras/episode_000201/ep_meta.json

@@ -0,0 +1,594 @@
+{
+    "layout_id": 10,
+    "style_id": 10,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": "mug",
+            "graspable": true,
+            "placement": {
+                "fixture": "cab_1_main_group",
+                "size": [
+                    0.5,
+                    0.2
+                ],
+                "pos": [
+                    0,
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "mug",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "mug"
+                ],
+                "cat": "mug",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_8/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    0.0,
+                    -0.43
+                ],
+                "size": [
+                    0.94,
+                    0.34
+                ],
+                "height": 0.2666666666666667,
+                "name": "level0"
+            }
+        },
+        {
+            "name": "obj2",
+            "obj_groups": "kettle",
+            "graspable": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "size": [
+                    0.5,
+                    0.5
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ],
+                "sample_region_kwargs": {
+                    "ref": "cab_1_main_group",
+                    "top_size": [
+                        0.6,
+                        0.4
+                    ],
+                    "min_size": [
+                        0.14558433938999996,
+                        0.19008931850999994,
+                        0.16693780508999997
+                    ]
+                },
+                "offset": [
+                    0.1,
+                    0.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "kettle_non_electric",
+                    "receptacle",
+                    "kettle",
+                    "cookware"
+                ],
+                "groups": [
+                    "kettle"
+                ],
+                "cat": "kettle_non_electric",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kettle/kettle_4/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.1,
+                    0.65
+                ],
+                "offset": [
+                    0.575,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "container",
+            "obj_groups": "tray",
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "size": [
+                    0.7,
+                    0.7
+                ],
+                "pos": [
+                    "ref",
+                    -0.6
+                ],
+                "offset": [
+                    -0.1,
+                    0.0
+                ],
+                "sample_region_kwargs": {
+                    "ref": "cab_1_main_group",
+                    "top_size": [
+                        0.6,
+                        0.4
+                    ],
+                    "min_size": [
+                        0.25161841404000007,
+                        0.3772029340800002,
+                        0.02155964202000001
+                    ]
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tray",
+                    "receptacle",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "tray"
+                ],
+                "cat": "tray",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_7/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.1,
+                    0.65
+                ],
+                "offset": [
+                    0.575,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_room": {
+            "cls": "Wall"
+        },
+        "wall_front_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_2_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_front_room": {
+            "cls": "Floor"
+        },
+        "floor_front_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "right_corner_box_main_group": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_4": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
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+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group": {
+            "cls": "Accessory"
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+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
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+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
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+        "fridge_top_left_group": {
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+        "stack_left_left_group_base": {
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+        },
+        "stack_left_left_group_1": {
+            "cls": "SingleCabinet"
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+        "stack_left_left_group_2": {
+            "cls": "SingleCabinet"
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+            "cls": "Box"
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+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_2": {
+            "cls": "SingleCabinet"
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+        "box_left_top_left_group": {
+            "cls": "Box"
+        },
+        "box_left_bottom_left_group": {
+            "cls": "Box"
+        },
+        "box_right_top_left_group": {
+            "cls": "Box"
+        },
+        "box_right_bottom_left_group": {
+            "cls": "Box"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
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+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
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+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
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+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
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+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
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+        "counter_1_front_group": {
+            "cls": "Counter"
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+        "stack_1_front_group_base": {
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+        },
+        "cab_middle_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_front_group": {
+            "cls": "Microwave"
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+            "cls": "HingeCabinet"
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+        "utensil_set_front_group": {
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+        "counter_1_dining_area_group": {
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+        "paper_towel_dining_area_group": {
+            "cls": "Accessory"
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+        "fruit_bowl_dining_area_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Pick the kettle from the counter and place it on the tray. Then pick the mug from the cabinet and place it on the tray. Then close the cabinet doors.",
+    "fixture_refs": {
+        "cab": "cab_1_main_group",
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
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+            "parent_body": "mobilebase0_support"
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+            "parent_body": "mobilebase0_support"
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+        "robot0_eye_in_hand": {
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+                0
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+            "quat": [
+                0,
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+                0.707107,
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+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.002137600069173,
+        -0.7911880225411181,
+        0.0
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+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}

target/composite/ArrangeTea/20250812/lerobot/extras/episode_000211/ep_meta.json

@@ -0,0 +1,474 @@
+{
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+    "style_id": 3,
+    "object_cfgs": [
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+                    "kettle_non_electric",
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+                    "cookware"
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+                "cat": "kettle_non_electric",
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+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/kettle/Kettle019/model.xml"
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+        "wall_backing_room": {
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+        "wall_right_room": {
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+        "wall_right_backing_room": {
+            "cls": "Wall"
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+        "floor_room": {
+            "cls": "Floor"
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+        "floor_backing_room": {
+            "cls": "Floor"
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+        "outlet_room": {
+            "cls": "WallAccessory"
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+        "light_switch_room": {
+            "cls": "WallAccessory"
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+        "light_switch_2_room": {
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+        "cab_1_main_group": {
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+        "counter_main_main_group": {
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+        "stack_1_main_group_3": {
+            "cls": "Drawer"
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+        "plant_main_group": {
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+        "counter_corner_left_right_group": {
+            "cls": "Counter"
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+        "stove_right_group": {
+            "cls": "Stove"
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+        "counter_2_right_group": {
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+        "fridge_right_group": {
+            "cls": "FridgeBottomFreezer"
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+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
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+        },
+        "stack_1_right_group_2": {
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+        "stack_2_right_group_base": {
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+        "stack_2_right_group_1": {
+            "cls": "HingeCabinet"
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+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "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": "SingleCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_3_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
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+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "oil_bottle_right_group": {
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+        "tiered_basket_right_group": {
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+        "turmeric_right_group": {
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+        "salt_shaker_right_group_auxiliary_right_group": {
+            "cls": "Accessory"
+        }
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+    "lang": "Pick the kettle from the counter and place it on the tray. Then pick the mug from the cabinet and place it on the tray. Then close the cabinet doors.",
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+        "counter": "counter_main_main_group"
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+        1.5707963267948966
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+}

target/composite/ArrangeTea/20250812/lerobot/extras/episode_000245/ep_meta.json

@@ -0,0 +1,474 @@
+{
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+    "style_id": 3,
+    "object_cfgs": [
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+            "obj_groups": "mug",
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+                    "receptacle"
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+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "container",
+            "obj_groups": "tray",
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "size": [
+                    0.7,
+                    0.7
+                ],
+                "pos": [
+                    "ref",
+                    -0.6
+                ],
+                "offset": [
+                    -0.1,
+                    0.0
+                ],
+                "sample_region_kwargs": {
+                    "ref": "cab_main_main_group",
+                    "top_size": [
+                        0.6,
+                        0.4
+                    ],
+                    "min_size": [
+                        0.22680000756000007,
+                        0.37800000000000017,
+                        0.06105765582000002
+                    ]
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tray",
+                    "receptacle",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "tray"
+                ],
+                "cat": "tray",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_4/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.0000000000000004,
+                    0.65
+                ],
+                "offset": [
+                    1.0,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_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"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "sink_main_group": {
+            "cls": "Sink"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_main_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_right_group": {
+            "cls": "Counter"
+        },
+        "stove_right_group": {
+            "cls": "Stove"
+        },
+        "counter_2_right_group": {
+            "cls": "Counter"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "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": "SingleCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_3_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "oil_bottle_right_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_right_group": {
+            "cls": "Accessory"
+        },
+        "jar_right_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_right_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_right_group_auxiliary_right_group": {
+            "cls": "Accessory"
+        },
+        "jar_right_group_auxiliary_right_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_right_group_auxiliary_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Pick the kettle from the counter and place it on the tray. Then pick the mug from the cabinet and place it on the tray. Then close the cabinet doors.",
+    "fixture_refs": {
+        "cab": "cab_main_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": [
+        4.040512152667052,
+        -0.8150464474933876,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}

target/composite/ArrangeTea/20250812/lerobot/extras/episode_000370/ep_meta.json

@@ -0,0 +1,495 @@
+{
+    "layout_id": 5,
+    "style_id": 5,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": "mug",
+            "graspable": true,
+            "placement": {
+                "fixture": "cab_2_main_group",
+                "size": [
+                    0.5,
+                    0.2
+                ],
+                "pos": [
+                    0,
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "mug",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "mug"
+                ],
+                "cat": "mug",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mug/mug_5/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    0.0,
+                    -0.43
+                ],
+                "size": [
+                    0.94,
+                    0.34
+                ],
+                "height": 0.2666666666666667,
+                "name": "level0"
+            }
+        },
+        {
+            "name": "obj2",
+            "obj_groups": "kettle",
+            "graspable": true,
+            "placement": {
+                "fixture": "counter_right_main_group",
+                "size": [
+                    0.5,
+                    0.5
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ],
+                "sample_region_kwargs": {
+                    "ref": "cab_2_main_group",
+                    "top_size": [
+                        0.6,
+                        0.4
+                    ],
+                    "min_size": [
+                        0.14731196057999996,
+                        0.18354794805,
+                        0.15227368766999996
+                    ]
+                },
+                "offset": [
+                    0.1,
+                    0.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "kettle_non_electric",
+                    "receptacle",
+                    "kettle",
+                    "cookware"
+                ],
+                "groups": [
+                    "kettle"
+                ],
+                "cat": "kettle_non_electric",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kettle/kettle_6/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.0,
+                    0.65
+                ],
+                "offset": [
+                    -0.5,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "container",
+            "obj_groups": "tray",
+            "placement": {
+                "fixture": "counter_right_main_group",
+                "size": [
+                    0.7,
+                    0.7
+                ],
+                "pos": [
+                    "ref",
+                    -0.6
+                ],
+                "offset": [
+                    -0.1,
+                    0.0
+                ],
+                "sample_region_kwargs": {
+                    "ref": "cab_2_main_group",
+                    "top_size": [
+                        0.6,
+                        0.4
+                    ],
+                    "min_size": [
+                        0.22680000756000007,
+                        0.37800000000000017,
+                        0.06105765582000002
+                    ]
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tray",
+                    "receptacle",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "tray"
+                ],
+                "cat": "tray",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tray/tray_4/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.0,
+                    0.65
+                ],
+                "offset": [
+                    -0.5,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "untensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_4_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_left_group_2": {
+            "cls": "Drawer"
+        },
+        "flower_vase_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_left_group": {
+            "cls": "Accessory"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_left_group": {
+            "cls": "Accessory"
+        },
+        "digital_scale_left_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_right_main_group": {
+            "cls": "Counter"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Pick the kettle from the counter and place it on the tray. Then pick the mug from the cabinet and place it on the tray. Then close the cabinet doors.",
+    "fixture_refs": {
+        "cab": "cab_2_main_group",
+        "counter": "counter_right_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
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+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
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+}

target/composite/PanTransfer/20250817/lerobot/extras/dataset_meta.json

@@ -0,0 +1,474 @@
+{
+    "date": "8-19-2025",
+    "env": "PanTransfer",
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+    "time": "15:47:8",
+    "total": 191205
+}

target/composite/PanTransfer/20250817/lerobot/extras/episode_000259/ep_meta.json

@@ -0,0 +1,674 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
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+            "name": "vegetable_container",
+            "obj_groups": "pan",
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+                "ensure_object_boundary_in_range": false,
+                "try_to_place_in": "pan"
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+            "info": {
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+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_8/model.xml"
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+            "placement": {
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+                    0.01
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+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "vegetable_container",
+                    "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_7/model.xml"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
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+                "sample_region_kwargs": {
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+            "placement": {
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+        "wall_left_room": {
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+        "wall_right_backing_room": {
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+            "cls": "Floor"
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+        "floor_backing_room": {
+            "cls": "Floor"
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+        "utensil_rack_room": {
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+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
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+        "outlet_room": {
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+        "outlet_2_room": {
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+            "cls": "Stool"
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+        "counter_corner_main_group": {
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+        "hood_main_group": {
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+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
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+        "stack_2_main_group_2": {
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+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
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+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
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+        "stack_4_main_group_base": {
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+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
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+        "stack_5_main_group_base": {
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+        "stack_5_main_group_2": {
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+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
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+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
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+        "stack_6_main_group_2": {
+            "cls": "Drawer"
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+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
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+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
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+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
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+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
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+            "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": "Pick up the pan and dump the vegetables in it onto the plate. Then return the pan to the stove.",
+    "fixture_refs": {
+        "stove": "stovetop_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"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
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+                1.05
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+                -0.2993525564670563,
+                -0.55623859167099
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.6017055065088566,
+        -0.8109249980075227,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}

target/composite/PanTransfer/20250817/lerobot/extras/episode_000306/ep_meta.json

@@ -0,0 +1,603 @@
+{
+    "layout_id": 10,
+    "style_id": 10,
+    "object_cfgs": [
+        {
+            "name": "vegetable_container",
+            "obj_groups": "pan",
+            "placement": {
+                "fixture": "stove_main_group",
+                "size": [
+                    0.05,
+                    0.05
+                ],
+                "ensure_object_boundary_in_range": false,
+                "try_to_place_in": "pan"
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pan",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "pan"
+                ],
+                "cat": "pan",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_8/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.1631661348802123,
+                    -0.12179392194724994,
+                    0.46378745582301795
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "front_left"
+            }
+        },
+        {
+            "name": "vegetable",
+            "obj_groups": "vegetable",
+            "placement": {
+                "size": [
+                    0.01,
+                    0.01
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "vegetable_container",
+                    "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": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_1_main_group",
+                "sample_region_kwargs": {
+                    "ref": "stove_main_group",
+                    "min_size": [
+                        0.244743326685,
+                        0.24474403597500002,
+                        0.023217144615000004
+                    ]
+                },
+                "size": [
+                    0.3,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_5/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.8,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "dstr_dining",
+            "obj_groups": "all",
+            "exclude_obj_groups": [
+                "plate",
+                "pan",
+                "vegetable"
+            ],
+            "placement": {
+                "fixture": "counter_1_main_group",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.5,
+                    0.5
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "paprika",
+                    "spice"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "paprika",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/paprika/Paprika010/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.8,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_room": {
+            "cls": "Wall"
+        },
+        "wall_front_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_2_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_front_room": {
+            "cls": "Floor"
+        },
+        "floor_front_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "right_corner_box_main_group": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_4": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_left_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "box_left_top_left_group": {
+            "cls": "Box"
+        },
+        "box_left_bottom_left_group": {
+            "cls": "Box"
+        },
+        "box_right_top_left_group": {
+            "cls": "Box"
+        },
+        "box_right_bottom_left_group": {
+            "cls": "Box"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_2": {
+            "cls": "Drawer"
+        },
+        "shelves_front_group": {
+            "cls": "OpenCabinet"
+        },
+        "bottom_front_group_base": {
+            "cls": "Box"
+        },
+        "bottom_front_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_front_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_middle_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_front_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_front_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "utensil_set_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_dining_area_group": {
+            "cls": "Counter"
+        },
+        "paper_towel_dining_area_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_dining_area_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Pick up the pan and dump the vegetables in it onto the plate. Then return the pan to the stove.",
+    "fixture_refs": {
+        "stove": "stove_main_group",
+        "counter": "counter_1_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.031357378823215,
+        -0.9047382000419483,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}

target/composite/PanTransfer/20250817/lerobot/extras/episode_000311/ep_meta.json

@@ -0,0 +1,673 @@
+{
+    "layout_id": 7,
+    "style_id": 7,
+    "object_cfgs": [
+        {
+            "name": "vegetable_container",
+            "obj_groups": "pan",
+            "placement": {
+                "fixture": "stovetop_main_group",
+                "size": [
+                    0.05,
+                    0.05
+                ],
+                "ensure_object_boundary_in_range": false,
+                "try_to_place_in": "pan"
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pan",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "pan"
+                ],
+                "cat": "pan",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_8/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.22203348358224223,
+                    0.15337196509891443,
+                    0.01802683985770189
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "rear_right"
+            }
+        },
+        {
+            "name": "vegetable",
+            "obj_groups": "vegetable",
+            "placement": {
+                "size": [
+                    0.01,
+                    0.01
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "vegetable_container",
+                    "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_6/model.xml"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "stovetop_main_group",
+                    "min_size": [
+                        0.232802852625,
+                        0.23286639915,
+                        0.014759147025
+                    ]
+                },
+                "size": [
+                    0.3,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_9/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.6208974425329139,
+                    0.65
+                ],
+                "offset": [
+                    -1.1895512787335432,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "dstr_dining",
+            "obj_groups": "all",
+            "exclude_obj_groups": [
+                "plate",
+                "pan",
+                "vegetable"
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "size": [
+                    0.3,
+                    0.2
+                ],
+                "pos": [
+                    0.5,
+                    0.5
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "boxed_food",
+                    "packaged_food"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "boxed_food",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/boxed_food/boxed_food_4/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.6208974425329139,
+                    0.65
+                ],
+                "offset": [
+                    -1.1895512787335432,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "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": "Pick up the pan and dump the vegetables in it onto the plate. Then return the pan to the stove.",
+    "fixture_refs": {
+        "stove": "stovetop_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": [
+        3.7335952782943385,
+        -0.8198166636232825,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}

target/composite/PanTransfer/20250817/lerobot/extras/episode_000441/ep_meta.json

@@ -0,0 +1,531 @@
+{
+    "layout_id": 6,
+    "style_id": 6,
+    "object_cfgs": [
+        {
+            "name": "vegetable_container",
+            "obj_groups": "pan",
+            "placement": {
+                "fixture": "stove_right_group",
+                "size": [
+                    0.05,
+                    0.05
+                ],
+                "ensure_object_boundary_in_range": false,
+                "try_to_place_in": "pan"
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pan",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "pan"
+                ],
+                "cat": "pan",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_5/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.19765181461213538,
+                    0.11051621682681685,
+                    0.2894752593294014
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "rear_right"
+            }
+        },
+        {
+            "name": "vegetable",
+            "obj_groups": "vegetable",
+            "placement": {
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+                "sample_args": {
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+                    "on_top": true
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+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "bell_pepper",
+                    "vegetable",
+                    "food",
+                    "in_container"
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+                "groups": [
+                    "vegetable"
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+                "cat": "bell_pepper",
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+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_3/model.xml"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
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+                    "all",
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+                    "receptacle",
+                    "container",
+                    "container_set2"
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+                "groups": [
+                    "plate"
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+                "cat": "plate",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_4/model.xml"
+            },
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+            "name": "dstr_dining",
+            "obj_groups": "all",
+            "exclude_obj_groups": [
+                "plate",
+                "pan",
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+                    "food_set1",
+                    "group1"
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+                    "all"
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+            "cls": "Wall"
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+        "wall_left_backing_room": {
+            "cls": "Wall"
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+            "cls": "Wall"
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+            "cls": "Wall"
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+            "cls": "WallAccessory"
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+            "cls": "WallAccessory"
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+        "outlet_3_room": {
+            "cls": "WallAccessory"
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+        "light_switch_room": {
+            "cls": "WallAccessory"
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+            "cls": "WallAccessory"
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+            "cls": "WallAccessory"
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+            "cls": "Window"
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+        "cab_micro_right_group": {
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+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
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+        "cab_3_right_group": {
+            "cls": "HingeCabinet"
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+            "cls": "Toaster"
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+        "counter_1_left_group": {
+            "cls": "Counter"
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+            "cls": "Counter"
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+        "stack_1_left_group_base": {
+            "cls": "Box"
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+            "cls": "Drawer"
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target/composite/PanTransfer/20250817/lerobot/meta/embodiment.json

@@ -0,0 +1,8 @@
+{
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+    "robot_type": "PandaOmron",
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+    "body_controller_frequency": 20.0,
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+    "embodiment_tag": "robocasa_panda_omron"
+}

target/composite/PanTransfer/20250817/lerobot/meta/episodes.jsonl

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target/composite/PanTransfer/20250817/lerobot/meta/info.json

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target/composite/PanTransfer/20250817/lerobot/meta/modality.json

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target/composite/PanTransfer/20250817/lerobot/meta/stats.json

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+}

target/composite/PanTransfer/20250817/lerobot/meta/tasks.jsonl

@@ -0,0 +1,2 @@
+{"task_index": 0, "task": "Pick up the pan and dump the vegetables in it onto the plate. Then return the pan to the stove."}
+{"task_index": 1, "task": "PanTransfer"}