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+                [
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+            ]
+        }
+    },
+    "rollout_video_note": "remuxed 10->20 fps without re-encode; T+1 frames (true final obs)"
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOnSinkFaucet/lerobot/extras/episode_000087/ep_meta.json b/pretrain_atomic/TurnOnSinkFaucet/lerobot/extras/episode_000087/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..ec2a7179d8b4665a6c50daea30a0f5b4c38d1f37
--- /dev/null
+++ b/pretrain_atomic/TurnOnSinkFaucet/lerobot/extras/episode_000087/ep_meta.json
@@ -0,0 +1,405 @@
+{
+    "layout_id": 41,
+    "style_id": 45,
+    "object_cfgs": [
+        {
+            "name": "distr_counter_0",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_1_main_group_1",
+                "sample_region_kwargs": {
+                    "ref": "sink_main_group_1",
+                    "loc": "left_right",
+                    "min_size": [
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+                    0.1
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+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "donut",
+                    "sweets",
+                    "pastry",
+                    "food",
+                    "in_container"
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+                "groups": [
+                    "all"
+                ],
+                "cat": "donut",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/donut/donut_10/model.xml"
+            },
+            "reset_region": {
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+                "name": "geom_0"
+            }
+        },
+        {
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+            "washable": true,
+            "placement": {
+                "fixture": "sink_main_group_1",
+                "size": [
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+                    0.4
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+                "pos": [
+                    null,
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "mushroom",
+                    "vegetable",
+                    "food",
+                    "in_container"
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+                "groups": [
+                    "all"
+                ],
+                "cat": "mushroom",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_14/model.xml"
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+        "wall_right_1_room": {
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+        "wall_right_1_backing_room": {
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+        "wall_right_2_room": {
+            "cls": "Wall"
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+        "wall_right_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "lightswitch_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.003_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.001_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "sink_main_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "singlecabinet_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "cube_1_main_group_1": {
+            "cls": "Box"
+        },
+        "dishwasher_1_main_group_1": {
+            "cls": "Dishwasher"
+        },
+        "bottom_main_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "microwave_main_group_1": {
+            "cls": "Microwave"
+        },
+        "fridgesidebyside_main_group_1": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridgesidebyside_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "oven_cabinet_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "knife_block_main_group_1": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "counter_2_right_group_1": {
+            "cls": "Counter"
+        },
+        "stove_right_group_1": {
+            "cls": "Stove"
+        },
+        "stove_hood_right_group_1": {
+            "cls": "Hood"
+        },
+        "singlecabinet_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "island_island_group_2": {
+            "cls": "Counter"
+        },
+        "stack_4_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_4_island_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_5_island_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "paper_towel_island_group_2": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Turn on the sink faucet.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.7402630752997554,
+        -0.7949641603494905,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOnSinkFaucet/lerobot/extras/episode_000199/ep_meta.json b/pretrain_atomic/TurnOnSinkFaucet/lerobot/extras/episode_000199/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..de36a0c5d203f6018ba5ff8ef360429fbc9e2fa9
--- /dev/null
+++ b/pretrain_atomic/TurnOnSinkFaucet/lerobot/extras/episode_000199/ep_meta.json
@@ -0,0 +1,556 @@
+{
+  "layout_id": 54,
+  "style_id": 37,
+  "object_cfgs": [
+    {
+      "name": "distr_counter_0",
+      "obj_groups": "all",
+      "placement": {
+        "fixture": "counter_4_right_group_1",
+        "sample_region_kwargs": {
+          "ref": "sink_right_group_1",
+          "loc": "left_right",
+          "min_size": [
+            0.07405411,
+            0.24610438,
+            0.0993482
+          ]
+        },
+        "size": [
+          0.3,
+          0.3
+        ],
+        "pos": [
+          "ref",
+          -1.0
+        ],
+        "offset": [
+          0.0,
+          0.1
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "pizza_cutter",
+          "tool",
+          "in_container"
+        ],
+        "groups": [
+          "all"
+        ],
+        "cat": "pizza_cutter",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/lightwheel/pizza_cutter/PizzaCutter001/model.xml"
+      },
+      "reset_region": {
+        "size": [
+          0.8299075495183672,
+          0.65
+        ],
+        "offset": [
+          0.7678962252408164,
+          -3.469446951953614e-17,
+          0.46
+        ],
+        "name": "geom_1"
+      }
+    },
+    {
+      "name": "distr_counter_1",
+      "obj_groups": "all",
+      "placement": {
+        "fixture": "counter_4_right_group_1",
+        "sample_region_kwargs": {
+          "ref": "sink_right_group_1",
+          "loc": "left_right",
+          "min_size": [
+            0.14332699999999998,
+            0.1671202,
+            0.18736039999999998
+          ]
+        },
+        "size": [
+          0.3,
+          0.3
+        ],
+        "pos": [
+          "ref",
+          -1.0
+        ],
+        "offset": [
+          0.0,
+          0.1
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "blender_jug",
+          "receptacle"
+        ],
+        "groups": [
+          "all"
+        ],
+        "cat": "blender_jug",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/lightwheel/blender_jug/BlenderJug004/model.xml"
+      },
+      "reset_region": {
+        "size": [
+          0.8299075495183672,
+          0.65
+        ],
+        "offset": [
+          0.7678962252408164,
+          -3.469446951953614e-17,
+          0.46
+        ],
+        "name": "geom_1"
+      }
+    },
+    {
+      "name": "distr_counter_2",
+      "obj_groups": "all",
+      "placement": {
+        "fixture": "counter_4_right_group_1",
+        "sample_region_kwargs": {
+          "ref": "sink_right_group_1",
+          "loc": "left_right",
+          "min_size": [
+            0.08211986249999997,
+            0.098806227,
+            0.15116482049999996
+          ]
+        },
+        "size": [
+          0.3,
+          0.3
+        ],
+        "pos": [
+          "ref",
+          -1.0
+        ],
+        "offset": [
+          0.0,
+          0.1
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "candle",
+          "decoration"
+        ],
+        "groups": [
+          "all"
+        ],
+        "cat": "candle",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/objaverse/candle/candle_13/model.xml"
+      },
+      "reset_region": {
+        "size": [
+          0.8299075495183672,
+          0.65
+        ],
+        "offset": [
+          -0.7678962252408164,
+          -3.469446951953614e-17,
+          0.46
+        ],
+        "name": "geom_0"
+      }
+    },
+    {
+      "name": "distr_sink",
+      "obj_groups": "all",
+      "washable": true,
+      "placement": {
+        "fixture": "sink_right_group_1",
+        "size": [
+          0.3,
+          0.4
+        ],
+        "pos": [
+          null,
+          -1.0
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "lemon_wedge",
+          "vegetable",
+          "food",
+          "in_container"
+        ],
+        "groups": [
+          "all"
+        ],
+        "cat": "lemon_wedge",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge006/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          -0.114814220890639,
+          -0.0332509482965441,
+          -0.26344095561424385
+        ],
+        "size": [
+          0.41675232205772766,
+          0.4000341858437333
+        ],
+        "height": 0.22770993541680842,
+        "name": "basin"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_1_room": {
+      "cls": "Wall"
+    },
+    "wall_front_1_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "wallaccessory_2_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_1_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_3_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_4_room": {
+      "cls": "WallAccessory"
+    },
+    "window_group_room": {
+      "cls": "Window"
+    },
+    "stool_1_room": {
+      "cls": "Stool"
+    },
+    "stool_2_room": {
+      "cls": "Stool"
+    },
+    "stool_3_room": {
+      "cls": "Stool"
+    },
+    "stool_4_room": {
+      "cls": "Stool"
+    },
+    "fridgefrenchdoor_main_group_1": {
+      "cls": "FridgeFrenchDoor"
+    },
+    "fridgefrenchdoor_housing_main_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "bottom_main_group_1_base": {
+      "cls": "Box"
+    },
+    "bottom_main_group_1_1": {
+      "cls": "Drawer"
+    },
+    "microwave_main_group_1": {
+      "cls": "Microwave"
+    },
+    "oven_cabinet_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_4_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "microwave_housing_main_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "top_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_1_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_3_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "singlecabinet_2_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "cube_1_main_group_1": {
+      "cls": "Box"
+    },
+    "counter_1_main_group_1": {
+      "cls": "Counter"
+    },
+    "counter_2_main_group_1": {
+      "cls": "Counter"
+    },
+    "counter_corner_1_main_group_1": {
+      "cls": "Counter"
+    },
+    "stove_main_group_1": {
+      "cls": "Stove"
+    },
+    "stove_hood_main_group_1": {
+      "cls": "Hood"
+    },
+    "stack_03_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_03_main_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_03_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_03_main_group_1_3": {
+      "cls": "Drawer"
+    },
+    "stack_02_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_02_main_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_02_main_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_01_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_01_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "papertowel_main_group_1": {
+      "cls": "Accessory"
+    },
+    "coffee_machine_main_group_1": {
+      "cls": "CoffeeMachine"
+    },
+    "toaster_oven_main_group_1": {
+      "cls": "ToasterOven"
+    },
+    "opencabinet_1_right_group_1": {
+      "cls": "OpenCabinet"
+    },
+    "cube_3_right_group_1": {
+      "cls": "Box"
+    },
+    "cube_4_right_group_1": {
+      "cls": "Box"
+    },
+    "hingecabinet_6_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_5_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "sink_right_group_1": {
+      "cls": "Sink"
+    },
+    "counter_4_right_group_1": {
+      "cls": "Counter"
+    },
+    "stack_05_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_05_right_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_05_right_group_1_2": {
+      "cls": "PanelCabinet"
+    },
+    "stack_04_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_04_right_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_06_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_06_right_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "cube_2_right_group_1": {
+      "cls": "Box"
+    },
+    "cube_1_right_group_1": {
+      "cls": "Box"
+    },
+    "toaster_right_group_1": {
+      "cls": "Toaster"
+    },
+    "island_island_group_1": {
+      "cls": "Counter"
+    },
+    "stack_07_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_07_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_07_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_08_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_08_island_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_08_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "cube_3_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_4_island_group_1": {
+      "cls": "Box"
+    },
+    "stack_06_island_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_06_island_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_06_island_group_1_2": {
+      "cls": "Drawer"
+    },
+    "cube_1_island_group_1": {
+      "cls": "Box"
+    },
+    "cube_2_island_group_1": {
+      "cls": "Box"
+    },
+    "dishwasher_1_island_group_1": {
+      "cls": "Dishwasher"
+    },
+    "plant_island_group_1": {
+      "cls": "Accessory"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn on the sink faucet.",
+  "fixture_refs": {},
+  "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": [
+    4.909037611050121,
+    -1.8569404164749692,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    -0.0001619848215634878
+  ]
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOnSinkFaucet/lerobot/extras/episode_000199/source.json b/pretrain_atomic/TurnOnSinkFaucet/lerobot/extras/episode_000199/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..8ab9a5c7bab189dd399d551fcd8c1df68dcb3968
--- /dev/null
+++ b/pretrain_atomic/TurnOnSinkFaucet/lerobot/extras/episode_000199/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicPosttrain10",
+  "source_episode_index": 2,
+  "source_demo_key": "demo_2",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOnSinkFaucet/gr00tFMAtomicPosttrain10",
+  "is_success": true
+}
diff --git a/pretrain_atomic/TurnOnSinkFaucet/lerobot/extras/episode_000227/ep_meta.json b/pretrain_atomic/TurnOnSinkFaucet/lerobot/extras/episode_000227/ep_meta.json
new file mode 100644
index 0000000000000000000000000000000000000000..32cd86402e54db5bc11a02697c31e84220e98d39
--- /dev/null
+++ b/pretrain_atomic/TurnOnSinkFaucet/lerobot/extras/episode_000227/ep_meta.json
@@ -0,0 +1,493 @@
+{
+  "layout_id": 52,
+  "style_id": 60,
+  "object_cfgs": [
+    {
+      "name": "distr_counter_0",
+      "obj_groups": "all",
+      "placement": {
+        "fixture": "counter_4_right_group_1",
+        "sample_region_kwargs": {
+          "ref": "sink_right_group_1",
+          "loc": "left_right",
+          "min_size": [
+            0.067258841,
+            0.067258841,
+            0.1093477385
+          ]
+        },
+        "size": [
+          0.3,
+          0.3
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+        "pos": [
+          "ref",
+          -1.0
+        ],
+        "offset": [
+          0.0,
+          0.1
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "turmeric",
+          "spice"
+        ],
+        "groups": [
+          "all"
+        ],
+        "cat": "turmeric",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/lightwheel/turmeric/Turmeric007/model.xml"
+      },
+      "reset_region": {
+        "size": [
+          1.3905466106143347,
+          0.65
+        ],
+        "offset": [
+          0.4322266946928328,
+          -3.469446951953614e-17,
+          0.46
+        ],
+        "name": "geom_0"
+      }
+    },
+    {
+      "name": "distr_counter_1",
+      "obj_groups": "all",
+      "placement": {
+        "fixture": "counter_4_right_group_1",
+        "sample_region_kwargs": {
+          "ref": "sink_right_group_1",
+          "loc": "left_right",
+          "min_size": [
+            0.055481479679999994,
+            0.13200000264,
+            0.008775866879999998
+          ]
+        },
+        "size": [
+          0.3,
+          0.3
+        ],
+        "pos": [
+          "ref",
+          -1.0
+        ],
+        "offset": [
+          0.0,
+          0.1
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "chocolate",
+          "sweets",
+          "food",
+          "in_container"
+        ],
+        "groups": [
+          "all"
+        ],
+        "cat": "chocolate",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/objaverse/chocolate/chocolate_0/model.xml"
+      },
+      "reset_region": {
+        "size": [
+          1.3905466106143347,
+          0.65
+        ],
+        "offset": [
+          0.4322266946928328,
+          -3.469446951953614e-17,
+          0.46
+        ],
+        "name": "geom_0"
+      }
+    },
+    {
+      "name": "distr_counter_2",
+      "obj_groups": "all",
+      "placement": {
+        "fixture": "counter_4_right_group_1",
+        "sample_region_kwargs": {
+          "ref": "sink_right_group_1",
+          "loc": "left_right",
+          "min_size": [
+            0.07517482539999999,
+            0.0749261756,
+            0.2697209742
+          ]
+        },
+        "size": [
+          0.3,
+          0.3
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+        "pos": [
+          "ref",
+          -1.0
+        ],
+        "offset": [
+          0.0,
+          0.1
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "syrup_bottle",
+          "condiment"
+        ],
+        "groups": [
+          "all"
+        ],
+        "cat": "syrup_bottle",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/lightwheel/syrup_bottle/SyrupBottle002/model.xml"
+      },
+      "reset_region": {
+        "size": [
+          1.3905466106143347,
+          0.65
+        ],
+        "offset": [
+          0.4322266946928328,
+          -3.469446951953614e-17,
+          0.46
+        ],
+        "name": "geom_0"
+      }
+    },
+    {
+      "name": "distr_sink",
+      "obj_groups": "all",
+      "washable": true,
+      "placement": {
+        "fixture": "sink_right_group_1",
+        "size": [
+          0.3,
+          0.4
+        ],
+        "pos": [
+          null,
+          -1.0
+        ]
+      },
+      "type": "object",
+      "info": {
+        "groups_containing_sampled_obj": [
+          "all",
+          "ice_cube",
+          "iced_item",
+          "in_container"
+        ],
+        "groups": [
+          "all"
+        ],
+        "cat": "ice_cube",
+        "split": "pretrain",
+        "mjcf_path": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/robocasa/models/assets/objects/lightwheel/ice_cube/IceCube002/model.xml"
+      },
+      "reset_region": {
+        "offset": [
+          -0.11659964548121332,
+          -0.04359979581849083,
+          -0.30001439324862383
+        ],
+        "size": [
+          0.5202381756598345,
+          0.35118815745587006
+        ],
+        "height": 0.25718018866726644,
+        "name": "basin"
+      }
+    }
+  ],
+  "fixtures": {
+    "wall_main_1_room": {
+      "cls": "Wall"
+    },
+    "wall_main_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_room": {
+      "cls": "Wall"
+    },
+    "wall_right_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_room": {
+      "cls": "Wall"
+    },
+    "wall_left_1_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_1.001_room": {
+      "cls": "Wall"
+    },
+    "wall_front_1.001_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_2.002_room": {
+      "cls": "Wall"
+    },
+    "wall_front_2.002_backing_room": {
+      "cls": "Wall"
+    },
+    "wall_front_3.003_room": {
+      "cls": "Wall"
+    },
+    "wall_front_3.003_backing_room": {
+      "cls": "Wall"
+    },
+    "floor_1_room": {
+      "cls": "Floor"
+    },
+    "floor_1_backing_room": {
+      "cls": "Floor"
+    },
+    "wallaccessory_4_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_3_room": {
+      "cls": "WallAccessory"
+    },
+    "wallaccessory_2_room": {
+      "cls": "WallAccessory"
+    },
+    "cube_4_main_group_1": {
+      "cls": "Box"
+    },
+    "cube_5_main_group_1": {
+      "cls": "Box"
+    },
+    "hingecabinet_2_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "singlecabinet_2_main_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "hingecabinet_1_main_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "counter_corner_1_main_group_1": {
+      "cls": "Counter"
+    },
+    "counter_corner_2_main_group_1": {
+      "cls": "Counter"
+    },
+    "counter_2_main_group_1": {
+      "cls": "Counter"
+    },
+    "counter_3_main_group_1": {
+      "cls": "Counter"
+    },
+    "stove_main_group_1": {
+      "cls": "Stove"
+    },
+    "stack_04_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_04_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "stack_03_main_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_03_main_group_1_1": {
+      "cls": "SingleCabinet"
+    },
+    "coffee_machine_main_group_1": {
+      "cls": "CoffeeMachine"
+    },
+    "papertowel_main_group_1": {
+      "cls": "Accessory"
+    },
+    "hingecabinet_3_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_4_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "hingecabinet_5_right_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "sink_right_group_1": {
+      "cls": "Sink"
+    },
+    "counter_4_right_group_1": {
+      "cls": "Counter"
+    },
+    "cube_1_right_group_1": {
+      "cls": "Box"
+    },
+    "stack_2_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_2_right_group_1_1": {
+      "cls": "HingeCabinet"
+    },
+    "stack_2_right_group_1_2": {
+      "cls": "PanelCabinet"
+    },
+    "dishwasher_1_right_group_1": {
+      "cls": "Dishwasher"
+    },
+    "cube_2_right_group_1": {
+      "cls": "Box"
+    },
+    "stack_01_right_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_01_right_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_01_right_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_01_right_group_1_3": {
+      "cls": "Drawer"
+    },
+    "toaster_right_group_1": {
+      "cls": "Toaster"
+    },
+    "counter_1_left_group_1": {
+      "cls": "Counter"
+    },
+    "stack_05_left_group_1_base": {
+      "cls": "Box"
+    },
+    "stack_05_left_group_1_1": {
+      "cls": "Drawer"
+    },
+    "stack_05_left_group_1_2": {
+      "cls": "Drawer"
+    },
+    "stack_05_left_group_1_3": {
+      "cls": "Drawer"
+    },
+    "cube_1_left_group_1": {
+      "cls": "Box"
+    },
+    "fridgebottomfreezer_left_group_1": {
+      "cls": "FridgeBottomFreezer"
+    },
+    "fridgebottomfreezer_housing_left_group_1": {
+      "cls": "HousingCabinet"
+    },
+    "hingecabinet_5_left_group_1": {
+      "cls": "HingeCabinet"
+    },
+    "singlecabinet_1_left_group_1": {
+      "cls": "SingleCabinet"
+    },
+    "microwave_left_group_1": {
+      "cls": "Microwave"
+    },
+    "cab_micro_left_group_1": {
+      "cls": "HingeCabinet"
+    }
+  },
+  "gen_textures": {},
+  "lang": "Turn on the sink faucet.",
+  "fixture_refs": {},
+  "cam_configs": {
+    "robot0_agentview_center": {
+      "pos": [
+        -0.6,
+        0.0,
+        1.15
+      ],
+      "quat": [
+        0.636945903301239,
+        0.3325185477733612,
+        -0.3199238181114197,
+        -0.6175596117973328
+      ],
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_left": {
+      "pos": [
+        -0.5,
+        0.35,
+        1.05
+      ],
+      "quat": [
+        0.55623853,
+        0.29935253,
+        -0.37678665,
+        -0.6775092
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_agentview_right": {
+      "pos": [
+        -0.5,
+        -0.35,
+        1.05
+      ],
+      "quat": [
+        0.6775091886520386,
+        0.3767866790294647,
+        -0.2993525564670563,
+        -0.55623859167099
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_frontview": {
+      "pos": [
+        -0.5,
+        0,
+        0.95
+      ],
+      "quat": [
+        0.6088936924934387,
+        0.3814677894115448,
+        -0.3673907518386841,
+        -0.5905545353889465
+      ],
+      "camera_attribs": {
+        "fovy": "60"
+      },
+      "parent_body": "mobilebase0_support"
+    },
+    "robot0_eye_in_hand": {
+      "pos": [
+        0.05,
+        0,
+        0
+      ],
+      "quat": [
+        0,
+        0.707107,
+        0.707107,
+        0
+      ],
+      "parent_body": "robot0_right_hand"
+    }
+  },
+  "init_robot_base_pos": [
+    2.4869866176197877,
+    -1.2500922329107182,
+    0.0
+  ],
+  "init_robot_base_ori": [
+    0.0,
+    0.0,
+    -1.8344647019441496e-05
+  ]
+}
\ No newline at end of file
diff --git a/pretrain_atomic/TurnOnSinkFaucet/lerobot/extras/episode_000227/source.json b/pretrain_atomic/TurnOnSinkFaucet/lerobot/extras/episode_000227/source.json
new file mode 100644
index 0000000000000000000000000000000000000000..a84545e7563280eb42147739f493bd44919051a7
--- /dev/null
+++ b/pretrain_atomic/TurnOnSinkFaucet/lerobot/extras/episode_000227/source.json
@@ -0,0 +1,7 @@
+{
+  "policy": "gr00tFMAtomicPosttrain30",
+  "source_episode_index": 0,
+  "source_demo_key": "demo_0",
+  "source_dir": "/scr/yutaizho/code/p-infOPE/inf_ope/src/inf_ope/external/robocasa/eval/20260813_144413_policyType=gr00t_Ta=16_ntasks=17/TurnOnSinkFaucet/gr00tFMAtomicPosttrain30",
+  "is_success": true
+}
diff --git a/pretrain_atomic/TurnOnSinkFaucet/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000000.mp4 b/pretrain_atomic/TurnOnSinkFaucet/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000000.mp4
new file mode 100644
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--- /dev/null
+++ b/pretrain_atomic/TurnOnSinkFaucet/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000000.mp4
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
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+size 101958
diff --git a/pretrain_atomic/TurnOnSinkFaucet/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000001.mp4 b/pretrain_atomic/TurnOnSinkFaucet/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000001.mp4
new file mode 100644
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+++ b/pretrain_atomic/TurnOnSinkFaucet/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000001.mp4
@@ -0,0 +1,3 @@
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diff --git a/pretrain_atomic/TurnOnSinkFaucet/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000002.mp4 b/pretrain_atomic/TurnOnSinkFaucet/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000002.mp4
new file mode 100644
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@@ -0,0 +1,3 @@
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diff --git a/pretrain_atomic/TurnOnSinkFaucet/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000003.mp4 b/pretrain_atomic/TurnOnSinkFaucet/lerobot/videos/chunk-000/observation.images.robot0_agentview_left/episode_000003.mp4
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@@ -0,0 +1,3 @@
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@@ -0,0 +1,3 @@
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