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

@@ -0,0 +1,409 @@
+{
+    "layout_id": 42,
+    "style_id": 54,
+    "object_cfgs": [
+        {
+            "name": "distr_counter_1",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "island_island_group_1",
+                "sample_region_kwargs": {
+                    "ref": "dishwasher_1_island_group_1",
+                    "min_size": [
+                        0.06352755,
+                        0.26314673,
+                        0.06365040999999999
+                    ]
+                },
+                "size": [
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+                    0.5
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+                "pos": [
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+                    -1.0
+                ],
+                "offset": [
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+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "whisk",
+                    "utensil"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "whisk",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/whisk/Whisk001/model.xml"
+            },
+            "reset_region": {
+                "size": [
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+                    1.242
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+                "offset": [
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+                    2.0816681711721685e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_4_room": {
+            "cls": "Wall"
+        },
+        "wall_main_4_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.002_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_4_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_1_main_group_1": {
+            "cls": "Counter"
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+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "cube_1_main_group_1": {
+            "cls": "Box"
+        },
+        "fridgefrenchdoor_main_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "coffeemachine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "papertowel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "stovetop_right_group_1": {
+            "cls": "Stovetop"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "hingecabinet_3_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_4_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_1_3": {
+            "cls": "PanelCabinet"
+        },
+        "stack_4_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_1_right_group_1": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "oven_right_group_1": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_right_group_1": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "counter_1_left_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "knifeblock_left_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_left_group_1": {
+            "cls": "ToasterOven"
+        },
+        "plant_left_group_1": {
+            "cls": "Accessory"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_3_island_group_1": {
+            "cls": "Box"
+        },
+        "sink_island_group_1": {
+            "cls": "Sink"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_1_island_group_1": {
+            "cls": "Dishwasher"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Open the dishwasher door.",
+    "fixture_refs": {
+        "fxtr": "dishwasher_1_island_group_1"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
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+                0.0,
+                1.15
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+        "robot0_agentview_left": {
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+                0.35,
+                1.05
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+                0.29935253,
+                -0.37678665,
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
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+        },
+        "robot0_frontview": {
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+                0,
+                0.95
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+                0.3814677894115448,
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+            "camera_attribs": {
+                "fovy": "60"
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+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
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+                0,
+                0
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+            "quat": [
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+                0.707107,
+                0.707107,
+                0
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+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.57223241068807,
+        -5.381999155856777,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.14159329371052
+    ]
+}

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

@@ -0,0 +1,475 @@
+{
+    "layout_id": 36,
+    "style_id": 30,
+    "object_cfgs": [
+        {
+            "name": "distr_counter_1",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_1_left_group_1",
+                "sample_region_kwargs": {
+                    "ref": "dishwasher_1_left_group_1",
+                    "min_size": [
+                        0.0748326375,
+                        0.05401265000000001,
+                        0.1498395375
+                    ]
+                },
+                "size": [
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+                    -1.0
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+                "offset": [
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+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "mustard",
+                    "condiment"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "mustard",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/mustard/Mustard005/model.xml"
+            },
+            "reset_region": {
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+                    0.65
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+                "offset": [
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+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "distr_counter_2",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_1_left_group_1",
+                "sample_region_kwargs": {
+                    "ref": "dishwasher_1_left_group_1",
+                    "min_size": [
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+                        0.06979004619999998,
+                        0.06027413279999998
+                    ]
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+                "size": [
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+                    0.5
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+                "pos": [
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+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "peach",
+                    "fruit",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "peach",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/peach/peach_1/model.xml"
+            },
+            "reset_region": {
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+                    0.65
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+                "offset": [
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+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "distr_counter_3",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_1_left_group_1",
+                "sample_region_kwargs": {
+                    "ref": "dishwasher_1_left_group_1",
+                    "min_size": [
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+                        0.14107461809999997,
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+                "pos": [
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+                    -1.0
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+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "eggplant",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "eggplant",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_2/model.xml"
+            },
+            "reset_region": {
+                "size": [
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+                "offset": [
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+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_3_room": {
+            "cls": "Wall"
+        },
+        "wall_left_3_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_2_room": {
+            "cls": "Wall"
+        },
+        "wall_front_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_5_room": {
+            "cls": "Wall"
+        },
+        "wall_left_5_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.001_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.002_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.003_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "counter_1_front_group_1": {
+            "cls": "Counter"
+        },
+        "fridgefrenchdoor_front_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_front_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_2_front_group_1": {
+            "cls": "Box"
+        },
+        "cube_1_front_group_1": {
+            "cls": "Box"
+        },
+        "papertowel_front_group_1": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "counter_2_right_group_1": {
+            "cls": "Counter"
+        },
+        "stove_right_group_1": {
+            "cls": "Stove"
+        },
+        "microwave_right_group_1": {
+            "cls": "Microwave"
+        },
+        "micro_cab_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "plant_right_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_right_group_1": {
+            "cls": "ToasterOven"
+        },
+        "sink_left_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group_1": {
+            "cls": "Counter"
+        },
+        "hingecabinet_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_1_left_group_1": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "dishwasher_1_left_group_1": {
+            "cls": "Dishwasher"
+        },
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+}

pretrain/atomic/OpenDishwasher/20250820/lerobot/extras/episode_000006/ep_meta.json

@@ -0,0 +1,404 @@
+{
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+        "micro_cab_main_group_1": {
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+}

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

@@ -0,0 +1,602 @@
+{
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+            "cls": "Box"
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+            "cls": "Box"
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+        "top_corner_1_main_group": {
+            "cls": "Box"
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+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "top_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
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+        "knife_block_main_group": {
+            "cls": "Accessory"
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+        "stovetop_left_group": {
+            "cls": "Stovetop"
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+        "counter_1_left_group": {
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+        "box_1_left_group": {
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+        "stack_1_left_group_base": {
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+        "stack_2_left_group_base": {
+            "cls": "Box"
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+        "stack_2_left_group_1": {
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+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "PanelCabinet"
+        },
+        "box_3_left_group": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "box_2_left_group": {
+            "cls": "Box"
+        },
+        "fridge_1_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_1_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "hood_left_group": {
+            "cls": "Hood"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "bottom_right_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "oven_right_group_1": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_right_group_1": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_1": {
+            "cls": "PanelCabinet"
+        },
+        "box_right_group_1": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "cab_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "panel_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "panel_stack_1_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_island_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_island_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1": {
+            "cls": "HingeCabinet"
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+        "stack_3_island_group_2": {
+            "cls": "Drawer"
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+        "stack_4_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_island_group_2": {
+            "cls": "Drawer"
+        },
+        "panel_stack_2_island_group_base": {
+            "cls": "Box"
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+        "panel_stack_2_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "box_1_island_group": {
+            "cls": "Box"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Open the dishwasher door.",
+    "fixture_refs": {
+        "fxtr": "dishwasher_1_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
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+            "parent_body": "mobilebase0_support"
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+        "robot0_agentview_right": {
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+            "parent_body": "mobilebase0_support"
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+        "robot0_eye_in_hand": {
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+                0
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+            "quat": [
+                0,
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+                0.707107,
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+            "parent_body": "robot0_right_hand"
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+    "init_robot_base_pos": [
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+        0.0
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+    "init_robot_base_ori": [
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+        0.0,
+        1.5707963267948966
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+}

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

@@ -0,0 +1,522 @@
+{
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+    "style_id": 47,
+    "object_cfgs": [
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+                    0.1
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+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "teapot",
+                    "receptacle"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "teapot",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/teapot/teapot_13/model.xml"
+            },
+            "reset_region": {
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+                    0.460003
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+            }
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+        {
+            "name": "distr_counter_2",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_1_right_group_1",
+                "sample_region_kwargs": {
+                    "ref": "dishwasher_1_right_group_1",
+                    "min_size": [
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+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "condiment_bottle",
+                    "condiment"
+                ],
+                "groups": [
+                    "all"
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+                "cat": "condiment_bottle",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/condiment/condiment_2/model.xml"
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+        "wall_main_2_room": {
+            "cls": "Wall"
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+        "wall_main_2_backing_room": {
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+        "wall_main_1_backing_room": {
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+        "wall_left_1_room": {
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+        "wall_left_1_backing_room": {
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+        "wall_left_2_room": {
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+        "wall_left_2_backing_room": {
+            "cls": "Wall"
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+        "wall_left_4_room": {
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+        "wall_left_4_backing_room": {
+            "cls": "Wall"
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+        "wall_left_3_room": {
+            "cls": "Wall"
+        },
+        "wall_left_3_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_4_room": {
+            "cls": "Wall"
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+        "wall_main_4_backing_room": {
+            "cls": "Wall"
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+        "wall_main_3_room": {
+            "cls": "Wall"
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+        "wall_main_3_backing_room": {
+            "cls": "Wall"
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+        "floor_1_room": {
+            "cls": "Floor"
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+        "floor_1_backing_room": {
+            "cls": "Floor"
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+        "floor_2_room": {
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+        "floor_2_backing_room": {
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+        "wallaccessory_7_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_6_room": {
+            "cls": "WallAccessory"
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+        "wallaccessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_5_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_11_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "stool_4_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
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+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "hingecabinet_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_4_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "counter_corner_1_main_group_1": {
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+        "counter_2_main_group_1": {
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+        "counter_13_main_group_1": {
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+        },
+        "stove_main_group_1": {
+            "cls": "Stove"
+        },
+        "microwave_main_group_1": {
+            "cls": "Microwave"
+        },
+        "micro_cab_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_01_main_group_1_base": {
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+        },
+        "stack_01_main_group_1_1": {
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+        "stack_02_main_group_1_base": {
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+            "cls": "SingleCabinet"
+        },
+        "stack_02_main_group_1_2": {
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+        "stack_03_main_group_1_base": {
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+        "stack_03_main_group_1_1": {
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+        "stack_03_main_group_1_2": {
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+        "stack_04_main_group_1_base": {
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+        "stack_04_main_group_1_1": {
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+        },
+        "cube_main_group_1": {
+            "cls": "Box"
+        },
+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "papertowel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group_1": {
+            "cls": "ToasterOven"
+        },
+        "sink_right_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "stack_05_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_05_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_2_right_group_1": {
+            "cls": "Box"
+        },
+        "stack_07_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_07_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_07_right_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "cube_1_right_group_1": {
+            "cls": "Box"
+        },
+        "dishwasher_1_right_group_1": {
+            "cls": "Dishwasher"
+        },
+        "fridgefrenchdoor_left_group_2": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_left_group_2": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_1_left_group_2": {
+            "cls": "HingeCabinet"
+        },
+        "counter_3_front_group_1": {
+            "cls": "Counter"
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+        "counter_5_front_group_1": {
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+        "stack_13_front_group_1_base": {
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+    "lang": "Open the dishwasher door.",
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+}

pretrain/atomic/OpenDishwasher/20250820/lerobot/extras/episode_000016/ep_meta.json

@@ -0,0 +1,397 @@
+{
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+        "wall_main_1_room": {
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+            "cls": "Wall"
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+        "wall_main_2_room": {
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+        "cab_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group_1": {
+            "cls": "CoffeeMachine"
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+        "toaster_right_group_1": {
+            "cls": "Toaster"
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+        "stove_main_group_3": {
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+        "fridge_1_main_group_3": {
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+        "fridge_1_housing_main_group_3": {
+            "cls": "HousingCabinet"
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+        "top_1_main_group_3": {
+            "cls": "HingeCabinet"
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+        "cab_1_main_group_3": {
+            "cls": "OpenCabinet"
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+        "microwave_main_group_3": {
+            "cls": "Microwave"
+        },
+        "cab_micro_main_group_3": {
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+        "cab_corner_main_group_3": {
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+        "dining_dining_area_group": {
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+        "box_dining_area_group": {
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+        "stack_1_dining_area_group_1": {
+            "cls": "SingleCabinet"
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+        "stack_1_dining_area_group_2": {
+            "cls": "Drawer"
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+        "stack_2_dining_area_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_dining_area_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_dining_area_group_2": {
+            "cls": "Drawer"
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+        "stack_2_dining_area_group_3": {
+            "cls": "Drawer"
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+        "stack_2_dining_area_group_4": {
+            "cls": "Drawer"
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+        "stack_3_dining_area_group_base": {
+            "cls": "Box"
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+        "stack_3_dining_area_group_1": {
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+        "stack_3_dining_area_group_2": {
+            "cls": "Drawer"
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+        "stack_3_dining_area_group_3": {
+            "cls": "Drawer"
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+        "stack_3_dining_area_group_4": {
+            "cls": "Drawer"
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+    "lang": "Open the dishwasher door.",
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+}

pretrain/atomic/OpenDishwasher/20250820/lerobot/extras/episode_000017/ep_meta.json

@@ -0,0 +1,538 @@
+{
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+        "sink_main_group": {
+            "cls": "Sink"
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+        "stack_1_main_group_base": {
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+            "cls": "HingeCabinet"
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+        "cab_3_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "stovetop_island_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_island_group": {
+            "cls": "Counter"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "cube_island_group": {
+            "cls": "Box"
+        },
+        "panel_cab_1_island_group_base": {
+            "cls": "Box"
+        },
+        "panel_cab_1_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_island_group_2": {
+            "cls": "Drawer"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_island_group_base": {
+            "cls": "Box"
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+        "stack_2_island_group_1": {
+            "cls": "HingeCabinet"
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+        "stack_3_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_island_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_island_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_island_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_island_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_island_group_2": {
+            "cls": "Drawer"
+        },
+        "panel_cab_2_island_group_base": {
+            "cls": "Box"
+        },
+        "panel_cab_2_island_group_1": {
+            "cls": "PanelCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Open the dishwasher door.",
+    "fixture_refs": {
+        "fxtr": "dishwasher_island_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
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+                0.0,
+                1.15
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+        "robot0_agentview_left": {
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+                0.35,
+                1.05
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+                0.29935253,
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
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+        "robot0_agentview_right": {
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+        "robot0_frontview": {
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+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
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+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.488999903407525,
+        -1.6518081239332492,
+        0.0
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+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -1.57079623937212
+    ]
+}

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

@@ -0,0 +1,434 @@
+{
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+    "style_id": 53,
+    "object_cfgs": [
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+            "obj_groups": "all",
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+                "sample_region_kwargs": {
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+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "ladle",
+                    "utensil"
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+                "groups": [
+                    "all"
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+                "cat": "ladle",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/ladle/ladle_2/model.xml"
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+                    0.46
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+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "distr_counter_2",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_1_main_group_1",
+                "sample_region_kwargs": {
+                    "ref": "dishwasher_1_main_group_1",
+                    "min_size": [
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+                    -1.0
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+                "offset": [
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+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "garlic",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "all"
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+                "cat": "garlic",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_1/model.xml"
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+                "name": "geom_0"
+            }
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+        "wall_main_1_backing_room": {
+            "cls": "Wall"
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+        "wall_left_1_backing_room": {
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+        "wall_left_2_room": {
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+        "wall_left_3_room": {
+            "cls": "Wall"
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+        "wall_left_3_backing_room": {
+            "cls": "Wall"
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+            "cls": "Floor"
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+        "floor_1_backing_room": {
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+        "wallaccessory.001_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.005_room": {
+            "cls": "WallAccessory"
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+        "wallaccessory.003_room": {
+            "cls": "WallAccessory"
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+        "wallaccessory.004_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.007_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_2_room": {
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+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stool_4_room": {
+            "cls": "Stool"
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+        "stool_1_room": {
+            "cls": "Stool"
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+        "sink_main_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
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+        "opencabinet_1_main_group_1": {
+            "cls": "OpenCabinet"
+        },
+        "opencabinet_2_main_group_1": {
+            "cls": "OpenCabinet"
+        },
+        "stack_1_main_group_1_base": {
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+        },
+        "stack_1_main_group_1_1": {
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+        },
+        "stack_1_main_group_1_2": {
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+        "stack_2_main_group_1_base": {
+            "cls": "Box"
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+        "stack_2_main_group_1_1": {
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+        "stack_4_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "dishwasher_1_main_group_1": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "coffeemachine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "bottom_main_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "oven_cabinet_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_main_group_1": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "counter_1_left_group_1": {
+            "cls": "Counter"
+        },
+        "stove_left_group_1": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group_1": {
+            "cls": "Counter"
+        },
+        "fridgesidebyside_left_group_1": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridgesidebyside_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_4_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "knifeblock_left_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_left_group_1": {
+            "cls": "ToasterOven"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "cube_3_island_group_1": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_island_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_2_island_group_1": {
+            "cls": "Box"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Open the dishwasher door.",
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+        "fxtr": "dishwasher_1_main_group_1"
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+        "robot0_agentview_left": {
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+                0.35,
+                1.05
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+                -0.6775092
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+            },
+            "parent_body": "mobilebase0_support"
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+        "robot0_agentview_right": {
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+            "parent_body": "mobilebase0_support"
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+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
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+            "parent_body": "robot0_right_hand"
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+    "init_robot_base_pos": [
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+}

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

@@ -0,0 +1,426 @@
+{
+    "layout_id": 16,
+    "style_id": 30,
+    "object_cfgs": [
+        {
+            "name": "distr_counter_1",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_1_right_group_1",
+                "sample_region_kwargs": {
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+                    "min_size": [
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+                        0.09609128,
+                        0.02079624
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+                "offset": [
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+                    0.1
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+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "shrimp",
+                    "meat",
+                    "food",
+                    "in_container"
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+                "groups": [
+                    "all"
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+                "cat": "shrimp",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp007/model.xml"
+            },
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+    ],
+    "fixtures": {
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+            "cls": "Wall"
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+        "wall_left_3_backing_room": {
+            "cls": "Wall"
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+        "wall_main_room": {
+            "cls": "Wall"
+        },
+        "wall_main_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
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+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_room": {
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+        "wall_left_1_backing_room": {
+            "cls": "Wall"
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+        "wall_left_4_room": {
+            "cls": "Wall"
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+        "wall_left_4_backing_room": {
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+        "wall_left_5_room": {
+            "cls": "Wall"
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+        "wall_left_5_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_room": {
+            "cls": "Wall"
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+        "wall_right_3_backing_room": {
+            "cls": "Wall"
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+        "wall_right_2_room": {
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+        "wall_right_2_backing_room": {
+            "cls": "Wall"
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+        "wall_right_4_room": {
+            "cls": "Wall"
+        },
+        "wall_right_4_backing_room": {
+            "cls": "Wall"
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+        "floor_1_room": {
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+        "floor_1_backing_room": {
+            "cls": "Floor"
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+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_1_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
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+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
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+            "cls": "Stove"
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+            "cls": "SingleCabinet"
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+        "fridge_1_main_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_1_housing_main_group_1": {
+            "cls": "HousingCabinet"
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+        "fridge_top_main_group_1": {
+            "cls": "HingeCabinet"
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+        "cab_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_main_group_1": {
+            "cls": "Box"
+        },
+        "microwave_main_group_1": {
+            "cls": "Microwave"
+        },
+        "cab_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "paper_towel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "sink_1_right_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "box_1_right_group_1": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_base": {
+            "cls": "Box"
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+        "stack_1_right_group_1_1": {
+            "cls": "HingeCabinet"
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+        "stack_1_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_right_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_4_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_right_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_5_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_right_group_1_3": {
+            "cls": "Drawer"
+        },
+        "dishwasher_right_group_1": {
+            "cls": "Dishwasher"
+        },
+        "panel_stack_right_group_1_base": {
+            "cls": "Box"
+        },
+        "panel_stack_right_group_1_1": {
+            "cls": "PanelCabinet"
+        },
+        "cab_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_oven_right_group_1": {
+            "cls": "ToasterOven"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_2": {
+            "cls": "Drawer"
+        },
+        "box_1_island_group": {
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+        "box_2_island_group": {
+            "cls": "Box"
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+        "stack_2_island_group_base": {
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+        "stack_2_island_group_2": {
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+        "stack_2_island_group_3": {
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+            "cls": "Drawer"
+        },
+        "stack_3_island_group_2": {
+            "cls": "Drawer"
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+    "gen_textures": {},
+    "lang": "Open the dishwasher door.",
+    "fixture_refs": {
+        "fxtr": "dishwasher_right_group_1"
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+        "robot0_eye_in_hand": {
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+    "init_robot_base_pos": [
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+        3.422854288892552e-08
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+}

pretrain/atomic/OpenDishwasher/20250820/lerobot/extras/episode_000023/ep_meta.json

@@ -0,0 +1,529 @@
+{
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+    "style_id": 50,
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+                    "yogurt",
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+                    "food",
+                    "in_container"
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+                "groups": [
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+                ],
+                "cat": "yogurt",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/yogurt/yogurt_1/model.xml"
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+            "type": "object",
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+                    "dairy",
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+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cream_cheese_stick/CreamCheeseStick004/model.xml"
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+                    "cleaner"
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+                "cat": "bar_soap",
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+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bar_soap/bar_soap_0/model.xml"
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+        "wall_right_1_backing_room": {
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+        "wall_left_1_room": {
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+        "wall_left_1_backing_room": {
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+        "wall_main_2_room": {
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+            "cls": "Wall"
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+        "wall_left_2_backing_room": {
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+        "wall_main_3.001_backing_room": {
+            "cls": "Wall"
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+        "floor_1_room": {
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+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
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+        "floor_2_backing_room": {
+            "cls": "Floor"
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+        "window_group_1_room": {
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+        "window_group_2_room": {
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+        "stack_03_main_group_1_base": {
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+        "dishwasher_1_main_group_1": {
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+            "cls": "Box"
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+        "cube_08_island_group_1": {
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+        "hingecabinet_5_left_group_1": {
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+        "fridgefrenchdoor_left_group_1": {
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+        "bottom_left_group_1_base": {
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+        "toaster_oven_left_group_1": {
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+        "robot0_eye_in_hand": {
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+            "quat": [
+                0,
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+                0.707107,
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+    "init_robot_base_pos": [
+        2.976914142228434,
+        -0.8935248274873315,
+        0.0
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+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707959135307359
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+}

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

@@ -0,0 +1,502 @@
+{
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+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "ice_cube",
+                    "iced_item",
+                    "in_container"
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+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/ice_cube/IceCube003/model.xml"
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+            "obj_groups": "all",
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+                    "all",
+                    "sugar_cube",
+                    "sweets",
+                    "food",
+                    "in_container"
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+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/sugar_cube/SugarCube002/model.xml"
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+            }
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+            "cls": "Wall"
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+        "wall_main_1_backing_room": {
+            "cls": "Wall"
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+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_1_room": {
+            "cls": "WallAccessory"
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+            "cls": "WallAccessory"
+        },
+        "wallaccessory_4_room": {
+            "cls": "WallAccessory"
+        },
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+        },
+        "stool_1_room": {
+            "cls": "Stool"
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+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stool_4_room": {
+            "cls": "Stool"
+        },
+        "fridgefrenchdoor_main_group_1": {
+            "cls": "FridgeFrenchDoor"
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+        "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"
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+        "hingecabinet_4_main_group_1": {
+            "cls": "HingeCabinet"
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+        "microwave_housing_main_group_1": {
+            "cls": "HousingCabinet"
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+            "cls": "Hood"
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+            "cls": "Box"
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+        "stack_02_main_group_1_1": {
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+        },
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+            "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": {
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+            "cls": "Box"
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+            "cls": "SingleCabinet"
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+        "cube_2_right_group_1": {
+            "cls": "Box"
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+        "cube_1_right_group_1": {
+            "cls": "Box"
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+        "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"
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+        "cube_3_island_group_1": {
+            "cls": "Box"
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+        "cube_4_island_group_1": {
+            "cls": "Box"
+        },
+        "stack_06_island_group_1_base": {
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+        "stack_06_island_group_1_1": {
+            "cls": "SingleCabinet"
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+        "stack_06_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
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+        "cube_2_island_group_1": {
+            "cls": "Box"
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+        "dishwasher_1_island_group_1": {
+            "cls": "Dishwasher"
+        },
+        "plant_island_group_1": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Open the dishwasher door.",
+    "fixture_refs": {
+        "fxtr": "dishwasher_1_island_group_1"
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+        "robot0_eye_in_hand": {
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+}

pretrain/atomic/OpenDishwasher/20250820/lerobot/extras/episode_000029/ep_meta.json

@@ -0,0 +1,579 @@
+{
+    "layout_id": 25,
+    "style_id": 12,
+    "object_cfgs": [
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+            "name": "distr_counter_1",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_1_left_group",
+                "sample_region_kwargs": {
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+                    "min_size": [
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+                        0.15680246,
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+            "type": "object",
+            "info": {
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+                    "all",
+                    "dish_brush",
+                    "cleaner",
+                    "tool",
+                    "in_container"
+                ],
+                "groups": [
+                    "all"
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+                "cat": "dish_brush",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/dish_brush/DishBrush007/model.xml"
+            },
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+                "name": "geom_0"
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+    "fixtures": {
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_room": {
+            "cls": "Wall"
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+        "wall_main_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
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+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_3_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_5_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_6_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_7_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "window_group_2_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_2_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
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+        },
+        "stack_1_main_group_1": {
+            "cls": "SingleCabinet"
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+        "stack_2_main_group_base": {
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+        "stack_2_main_group_1": {
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+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "SingleCabinet"
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+        "box_1_main_group": {
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+        "stack_4_main_group_base": {
+            "cls": "Box"
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+            "cls": "SingleCabinet"
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+        "stack_5_main_group_base": {
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+        },
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+            "cls": "Drawer"
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+        "stack_5_main_group_2": {
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+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_4": {
+            "cls": "Drawer"
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+        "stack_6_main_group_base": {
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+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "box_2_main_group": {
+            "cls": "Box"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "cab_corner_1_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_above_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_above_main_group": {
+            "cls": "SingleCabinet"
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+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_3_main_group": {
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+        },
+        "cab_3_above_main_group": {
+            "cls": "SingleCabinet"
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+        "cab_4_main_group": {
+            "cls": "HingeCabinet"
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+        "cab_4_above_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_1_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "box_left_group": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
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+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_4_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_5_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_6_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "paper_towel_left_group": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "corner_counter_right_group": {
+            "cls": "Counter"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "box_right_group": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "middle_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "counter_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_right_group_4": {
+            "cls": "Drawer"
+        },
+        "plant_right_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_island_group_2_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_island_group_2_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_2_1": {
+            "cls": "SingleCabinet"
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+        "stack_3_island_group_2_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_4_island_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_island_group_2_2": {
+            "cls": "Drawer"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Open the dishwasher door.",
+    "fixture_refs": {
+        "fxtr": "dishwasher_left_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
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+                1.15
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+                -0.6775092
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+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
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+            "parent_body": "mobilebase0_support"
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+        "robot0_eye_in_hand": {
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+                0,
+                0.707107,
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+    "init_robot_base_pos": [
+        0.8540718815684971,
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+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415926193612504
+    ]
+}

pretrain/atomic/OpenDishwasher/20250820/lerobot/extras/episode_000034/ep_meta.json

@@ -0,0 +1,416 @@
+{
+    "layout_id": 46,
+    "style_id": 54,
+    "object_cfgs": [
+        {
+            "name": "distr_counter_1",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_2_front_group_1",
+                "sample_region_kwargs": {
+                    "ref": "dishwasher_1_front_group_1",
+                    "min_size": [
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+                        0.19131297074999995,
+                        0.010328291737499998
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+                    -1.0
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+                    0.1
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+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "scissors",
+                    "tool",
+                    "in_container"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "scissors",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/scissors/scissors_13/model.xml"
+            },
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+                    2.0816681711721685e-17,
+                    0.46
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+                "name": "geom_0"
+            }
+        }
+    ],
+    "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_right_3_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_06_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_01_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_03_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_04_room": {
+            "cls": "WallAccessory"
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+        "stool_1_room": {
+            "cls": "Stool"
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+        "stool_2_room": {
+            "cls": "Stool"
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+        "stool_3_room": {
+            "cls": "Stool"
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+        "stool_4_room": {
+            "cls": "Stool"
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+        "stool_5_room": {
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+        },
+        "stool_6_room": {
+            "cls": "Stool"
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+            "cls": "Counter"
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+        "cube_1_dining_area_group": {
+            "cls": "Box"
+        },
+        "cube_2_dining_area_group": {
+            "cls": "Box"
+        },
+        "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"
+        },
+        "hingecabinet_02_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "oven_cabinet_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group_1": {
+            "cls": "HingeCabinet"
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+        "hingecabinet_01_main_group_1": {
+            "cls": "HingeCabinet"
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+        "singlecabinet_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "counter_2_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "stove_main_group_1": {
+            "cls": "Stove"
+        },
+        "stove_hood_main_group_1": {
+            "cls": "Hood"
+        },
+        "stack_01_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_01_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_01_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_01_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_02_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_02_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_02_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_02_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_03_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_03_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_03_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group_1": {
+            "cls": "ToasterOven"
+        },
+        "sink_front_group_1": {
+            "cls": "Sink"
+        },
+        "counter_2_front_group_1": {
+            "cls": "Counter"
+        },
+        "stack_05_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_05_front_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_05_front_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_08_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_08_front_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_08_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_06_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_06_front_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_04_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_04_front_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_04_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "dishwasher_1_front_group_1": {
+            "cls": "Dishwasher"
+        },
+        "stack_12_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_12_front_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_12_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "plant_front_group_1": {
+            "cls": "Accessory"
+        },
+        "paper_towel_front_group_1": {
+            "cls": "Accessory"
+        },
+        "cube_1_front_group_2": {
+            "cls": "Box"
+        },
+        "stack_11_front_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_11_front_group_2_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_10_front_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_10_front_group_2_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_09_front_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_09_front_group_2_1": {
+            "cls": "HingeCabinet"
+        },
+        "cube_2_front_group_2": {
+            "cls": "Box"
+        },
+        "stack_13_front_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_13_front_group_2_1": {
+            "cls": "SingleCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Open the dishwasher door.",
+    "fixture_refs": {
+        "fxtr": "dishwasher_1_front_group_1"
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+            "parent_body": "mobilebase0_support"
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+        "robot0_eye_in_hand": {
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+}

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

@@ -0,0 +1,486 @@
+{
+    "layout_id": 32,
+    "style_id": 27,
+    "object_cfgs": [
+        {
+            "name": "distr_counter_1",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_1_main_group_1",
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+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "jug",
+                    "receptacle"
+                ],
+                "groups": [
+                    "all"
+                ],
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+        "dishwasher_1_main_group_1": {
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+        "knifeblock_main_group_1": {
+            "cls": "Accessory"
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+        "widestove_right_group_1": {
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+            "cls": "SingleCabinet"
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+            "cls": "SingleCabinet"
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+        "bottom_right_group_1_base": {
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+            "cls": "Drawer"
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+            "cls": "Microwave"
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+        "counter_2_right_group_1": {
+            "cls": "Counter"
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+        "fridgesidebyside_right_group_1": {
+            "cls": "FridgeSideBySide"
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+        "fridgesidebyside_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "oven_cabinet_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_housing_right_group_1": {
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+        },
+        "top_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cube_1_right_group_1": {
+            "cls": "Box"
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+        "cube_2_right_group_1": {
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+            "cls": "Drawer"
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+        "coffee_machine_right_group_1": {
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+        "island_island_group_1": {
+            "cls": "Counter"
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+        "cube_1_island_group_1": {
+            "cls": "Box"
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+        "plant_island_group_1": {
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+}

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

@@ -0,0 +1,506 @@
+{
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+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/ketchup/ketchup_11/model.xml"
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+            "cls": "Box"
+        },
+        "stack_01_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_4_main_group_1": {
+            "cls": "Box"
+        },
+        "papertowel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group_1": {
+            "cls": "ToasterOven"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_3_island_group_1": {
+            "cls": "Box"
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+        "stack_09_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_09_island_group_1_1": {
+            "cls": "Drawer"
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+        "stack_09_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_09_island_group_1_3": {
+            "cls": "Drawer"
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+        "stack_08_island_group_1_base": {
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+        "stack_08_island_group_1_2": {
+            "cls": "Drawer"
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+        "stack_08_island_group_1_3": {
+            "cls": "Drawer"
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+        "stack_07_island_group_1_base": {
+            "cls": "Box"
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+        "stack_07_island_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_07_island_group_1_2": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Open the dishwasher door.",
+    "fixture_refs": {
+        "fxtr": "dishwasher_1_right_group_1"
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+    "init_robot_base_pos": [
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+        -0.00014782238328514552
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+}

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

@@ -0,0 +1,547 @@
+{
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+    "object_cfgs": [
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+            "type": "object",
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+                    "all",
+                    "knife",
+                    "utensil"
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+                "groups": [
+                    "all"
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+                "cat": "knife",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/knife/knife_0/model.xml"
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+                "name": "geom_0"
+            }
+        },
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+            "obj_groups": "all",
+            "placement": {
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+                "sample_region_kwargs": {
+                    "ref": "dishwasher_1_main_group",
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+                    "all",
+                    "reamer",
+                    "tool",
+                    "in_container"
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+                "groups": [
+                    "all"
+                ],
+                "cat": "reamer",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/reamer/Reamer007/model.xml"
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+        "wall_left_1_backing_room": {
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+        "wall_main_1_room": {
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+        "wall_main_1_backing_room": {
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+        "wall_right_1_room": {
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+        "wall_right_2_room": {
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+        "wall_right_2_backing_room": {
+            "cls": "Wall"
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+        "wall_right_3_backing_room": {
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+        "floor_1_room": {
+            "cls": "Floor"
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+        "floor_1_backing_room": {
+            "cls": "Floor"
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+        "wall_accessory_1_room": {
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+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_1_room": {
+            "cls": "WallAccessory"
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+        "wall_accessory_4_room": {
+            "cls": "WallAccessory"
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+        "wall_accessory_5_room": {
+            "cls": "WallAccessory"
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+        "window_group_room": {
+            "cls": "Window"
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+        "stool_1_room": {
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+        "stool_2_room": {
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+        "stool_4_room": {
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+        "stool_5_room": {
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+        "stool_6_room": {
+            "cls": "Stool"
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+            "cls": "Drawer"
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+            "cls": "Drawer"
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+        "stack_2_main_group_base": {
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+        },
+        "stack_2_main_group_1": {
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+        "stack_2_main_group_2": {
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+            "cls": "Box"
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+        "dishwasher_1_main_group": {
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+        },
+        "top_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
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+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
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+        "knife_block_main_group": {
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+        "stovetop_left_group": {
+            "cls": "Stovetop"
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+        "counter_1_left_group": {
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+        "box_1_left_group": {
+            "cls": "Box"
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+        "stack_1_left_group_base": {
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+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
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+        "stack_2_left_group_base": {
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+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "PanelCabinet"
+        },
+        "box_3_left_group": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "box_2_left_group": {
+            "cls": "Box"
+        },
+        "fridge_1_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_1_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "hood_left_group": {
+            "cls": "Hood"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
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+        "bottom_right_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1_1": {
+            "cls": "Drawer"
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+        "oven_right_group_1": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group_1": {
+            "cls": "HousingCabinet"
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+        "microwave_right_group_1": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group_1": {
+            "cls": "HingeCabinet"
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+        "stack_1_right_group_1_base": {
+            "cls": "Box"
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+        "stack_1_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_1": {
+            "cls": "PanelCabinet"
+        },
+        "box_right_group_1": {
+            "cls": "Box"
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+        "stack_3_right_group_1_base": {
+            "cls": "Box"
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+        "stack_3_right_group_1_1": {
+            "cls": "HingeCabinet"
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+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "cab_1_right_group_1": {
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+        },
+        "cab_2_right_group_1": {
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+        },
+        "cab_3_right_group_1": {
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+        "island_island_group": {
+            "cls": "Counter"
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+        "panel_stack_1_island_group_base": {
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+        "panel_stack_1_island_group_1": {
+            "cls": "PanelCabinet"
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+        "stack_1_island_group_base": {
+            "cls": "Box"
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+        "stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_island_group_2": {
+            "cls": "Drawer"
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+        "stack_2_island_group_base": {
+            "cls": "Box"
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+        "stack_2_island_group_1": {
+            "cls": "HingeCabinet"
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+        "stack_2_island_group_2": {
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+        "stack_3_island_group_base": {
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+        "stack_3_island_group_1": {
+            "cls": "HingeCabinet"
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+        "stack_3_island_group_2": {
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+        "stack_4_island_group_1": {
+            "cls": "HingeCabinet"
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+        "stack_4_island_group_2": {
+            "cls": "Drawer"
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+        "panel_stack_2_island_group_1": {
+            "cls": "PanelCabinet"
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+        "box_1_island_group": {
+            "cls": "Box"
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+    "lang": "Open the dishwasher door.",
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+        "robot0_agentview_left": {
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+        "robot0_eye_in_hand": {
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+    "init_robot_base_ori": [
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+        0.0,
+        1.5707963267948966
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+}

pretrain/atomic/OpenDishwasher/20250820/lerobot/extras/episode_000042/ep_meta.json

@@ -0,0 +1,480 @@
+{
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+    "style_id": 14,
+    "object_cfgs": [
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+            "obj_groups": "all",
+            "placement": {
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+                    0.1
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+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "bar_soap",
+                    "cleaner"
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+                "groups": [
+                    "all"
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+                "cat": "bar_soap",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bar_soap/bar_soap_0/model.xml"
+            },
+            "reset_region": {
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+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "distr_counter_2",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "island_island_group_1",
+                "sample_region_kwargs": {
+                    "ref": "dishwasher_1_island_group_1",
+                    "min_size": [
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+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "garlic",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "garlic",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_0/model.xml"
+            },
+            "reset_region": {
+                "size": [
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+                    1.075989
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+                "offset": [
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+                    2.0816681711721685e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "distr_counter_3",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "island_island_group_1",
+                "sample_region_kwargs": {
+                    "ref": "dishwasher_1_island_group_1",
+                    "min_size": [
+                        0.124560824355,
+                        0.23098716918,
+                        0.22953655017
+                    ]
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+                    -1.0
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+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "kettle_non_electric",
+                    "receptacle",
+                    "kettle",
+                    "cookware"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "kettle_non_electric",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/kettle/kettle_23/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.7998563562472052,
+                    1.075989
+                ],
+                "offset": [
+                    0.8012023218763975,
+                    2.0816681711721685e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_01_room": {
+            "cls": "Wall"
+        },
+        "wall_left_01_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_02_room": {
+            "cls": "Wall"
+        },
+        "wall_left_02_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_03_room": {
+            "cls": "Wall"
+        },
+        "wall_left_03_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_04_room": {
+            "cls": "Wall"
+        },
+        "wall_left_04_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_01_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_02_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_03_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_04_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "window_group_2_room": {
+            "cls": "Window"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "fridgefrenchdoor_left_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "bottom_left_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "microwave_left_group_1": {
+            "cls": "Microwave"
+        },
+        "oven_cabinet_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_island_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "cube_3_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_4_island_group_1": {
+            "cls": "Box"
+        },
+        "dishwasher_1_island_group_1": {
+            "cls": "Dishwasher"
+        },
+        "sink_island_group_1": {
+            "cls": "Sink"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "stack_01_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_01_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_01_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_02_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_02_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_02_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_03_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_03_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_03_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_04_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_04_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_04_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "counter_2_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_3_main_group_1": {
+            "cls": "Counter"
+        },
+        "widestove_main_group_1": {
+            "cls": "Stove"
+        },
+        "widestove_hood_main_group_1": {
+            "cls": "Hood"
+        },
+        "singlecabinet_03_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_02_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_01_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_04_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "paper_towel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group_1": {
+            "cls": "ToasterOven"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Open the dishwasher door.",
+    "fixture_refs": {
+        "fxtr": "dishwasher_1_island_group_1"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
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+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "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": [
+        3.4894854769288997,
+        -2.0050698175718797,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -1.570796175799094
+    ]
+}

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

@@ -0,0 +1,487 @@
+{
+    "layout_id": 20,
+    "style_id": 57,
+    "object_cfgs": [
+        {
+            "name": "distr_counter_1",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_1_left_group",
+                "sample_region_kwargs": {
+                    "ref": "dishwasher_1_left_group",
+                    "min_size": [
+                        0.04114545889507851,
+                        0.20999997916604876,
+                        0.027924216600000003
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.5
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+                "pos": [
+                    null,
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "fork",
+                    "utensil"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "fork",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fork/fork_10/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.9506323141330708,
+                    0.65
+                ],
+                "offset": [
+                    -0.3029999999999995,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_2_room": {
+            "cls": "Wall"
+        },
+        "wall_front_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_3_room": {
+            "cls": "Wall"
+        },
+        "wall_front_3_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_2_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "box_main_group": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "cab_4_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_5_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_6_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_1_left_group": {
+            "cls": "Counter"
+        },
+        "sink_1_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "box_1_left_group": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_1_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "box_2_left_group": {
+            "cls": "Box"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_left_group": {
+            "cls": "Box"
+        },
+        "knife_block_left_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "panel_stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "panel_stack_1_island_group_1_1": {
+            "cls": "PanelCabinet"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "panel_stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "panel_stack_2_island_group_1_1": {
+            "cls": "PanelCabinet"
+        },
+        "plant_island_group_1": {
+            "cls": "Accessory"
+        },
+        "counter_1_island_group_2": {
+            "cls": "Counter"
+        },
+        "panel_stack_1_island_group_2_base": {
+            "cls": "Box"
+        },
+        "panel_stack_1_island_group_2_1": {
+            "cls": "PanelCabinet"
+        },
+        "stack_1_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_2_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_2_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_2_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_2_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_2_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_2_2": {
+            "cls": "Drawer"
+        },
+        "panel_stack_2_island_group_2_base": {
+            "cls": "Box"
+        },
+        "panel_stack_2_island_group_2_1": {
+            "cls": "PanelCabinet"
+        },
+        "counter_1_front_group_1": {
+            "cls": "Counter"
+        },
+        "fridge_1_front_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_1_housing_front_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "box_front_group_1": {
+            "cls": "Box"
+        },
+        "cab_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_front_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_front_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_front_group_1": {
+            "cls": "Toaster"
+        },
+        "counter_1_front_group_2": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_front_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_2_front_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_front_group_2_base": {
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+}

pretrain/atomic/OpenDishwasher/20250820/lerobot/extras/episode_000047/ep_meta.json

@@ -0,0 +1,492 @@
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+            "cls": "HousingCabinet"
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+        "hingecabinet_05_right_group_1": {
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+        "hingecabinet_06_right_group_1": {
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+}

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

@@ -0,0 +1,519 @@
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+            "cls": "Wall"
+        },
+        "wall_main_4_room": {
+            "cls": "Wall"
+        },
+        "wall_main_4_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.002_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_4_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "cube_1_main_group_1": {
+            "cls": "Box"
+        },
+        "fridgefrenchdoor_main_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "coffeemachine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "papertowel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "stovetop_right_group_1": {
+            "cls": "Stovetop"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "hingecabinet_3_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_4_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_1_3": {
+            "cls": "PanelCabinet"
+        },
+        "stack_4_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_1_right_group_1": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "oven_right_group_1": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_right_group_1": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "counter_1_left_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "knifeblock_left_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_left_group_1": {
+            "cls": "ToasterOven"
+        },
+        "plant_left_group_1": {
+            "cls": "Accessory"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_3_island_group_1": {
+            "cls": "Box"
+        },
+        "sink_island_group_1": {
+            "cls": "Sink"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_1_island_group_1": {
+            "cls": "Dishwasher"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Open the dishwasher door.",
+    "fixture_refs": {
+        "fxtr": "dishwasher_1_island_group_1"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.5649031571012504,
+        -5.38199918455569,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.14159329371052
+    ]
+}

pretrain/atomic/OpenDishwasher/20250820/lerobot/extras/episode_000054/ep_meta.json

@@ -0,0 +1,554 @@
+{
+    "layout_id": 43,
+    "style_id": 25,
+    "object_cfgs": [
+        {
+            "name": "distr_counter_1",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_1_left_group_1",
+                "sample_region_kwargs": {
+                    "ref": "dishwasher_1_left_group_1",
+                    "min_size": [
+                        0.04033332207189279,
+                        0.1008333269597293,
+                        0.12099999999999997
+                    ]
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+                "size": [
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+                    0.5
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+                "pos": [
+                    null,
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "boxed_food",
+                    "packaged_food"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "boxed_food",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/boxed_food/boxed_food_11/model.xml"
+            },
+            "reset_region": {
+                "size": [
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+                    0.65
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+                "offset": [
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+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "distr_counter_2",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_1_left_group_1",
+                "sample_region_kwargs": {
+                    "ref": "dishwasher_1_left_group_1",
+                    "min_size": [
+                        0.064510551,
+                        0.0641351865,
+                        0.24878803950000003
+                    ]
+                },
+                "size": [
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+                    0.5
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+                "pos": [
+                    null,
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "oil_and_vinegar_bottle",
+                    "condiment"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "oil_and_vinegar_bottle",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/oil_and_vinegar_bottle/VinegarBottle006/model.xml"
+            },
+            "reset_region": {
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+                    -3.469446951953614e-17,
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+                "name": "geom_0"
+            }
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+        {
+            "name": "distr_counter_3",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_1_left_group_1",
+                "sample_region_kwargs": {
+                    "ref": "dishwasher_1_left_group_1",
+                    "min_size": [
+                        0.065099525,
+                        0.0650351,
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+                    -1.0
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+                "offset": [
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+                    0.1
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+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "mustard",
+                    "condiment"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "mustard",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/mustard/Mustard002/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.6190000000000011,
+                    0.65
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+                "offset": [
+                    0.027000000000000357,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_1.001_room": {
+            "cls": "Floor"
+        },
+        "floor_1.001_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory.001_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.005_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.003_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.004_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.002_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.006_room": {
+            "cls": "WallAccessory"
+        },
+        "counter_corner_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_2_main_group_1": {
+            "cls": "Counter"
+        },
+        "stove_main_group_1": {
+            "cls": "Stove"
+        },
+        "counter_corner_2_main_group_1": {
+            "cls": "Counter"
+        },
+        "stove_hood_main_group_1": {
+            "cls": "Hood"
+        },
+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cube_1_main_group_1": {
+            "cls": "Box"
+        },
+        "hingecabinet_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cube_2_main_group_1": {
+            "cls": "Box"
+        },
+        "coffeemachine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "papertowel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "plant_main_group_1": {
+            "cls": "Accessory"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_3_main_group_1": {
+            "cls": "Box"
+        },
+        "cube_4_main_group_1": {
+            "cls": "Box"
+        },
+        "counter_1_front_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_1_front_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_front_group_1": {
+            "cls": "Box"
+        },
+        "stack_2_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_front_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "singlecabinet_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "hingecabinet_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "opencabinet_1_right_group_1": {
+            "cls": "OpenCabinet"
+        },
+        "cube_1_right_group_1": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_1_3": {
+            "cls": "Drawer"
+        },
+        "fridgesidebyside_right_group_1": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridgesidebyside_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "bottom_right_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "microwave_right_group_1": {
+            "cls": "Microwave"
+        },
+        "singlecabinet_3_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "oven_cabinet_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "singlecabinet_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "top_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_oven_right_group_1": {
+            "cls": "ToasterOven"
+        },
+        "sink_left_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_1_left_group_1": {
+            "cls": "Counter"
+        },
+        "counter_2_left_group_1": {
+            "cls": "Counter"
+        },
+        "singlecabinet_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "hingecabinet_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_1_left_group_1": {
+            "cls": "Dishwasher"
+        },
+        "cube_3_left_group_1": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_1_3": {
+            "cls": "Drawer"
+        },
+        "cube_2_left_group_1": {
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pretrain/atomic/OpenDishwasher/20250820/lerobot/extras/episode_000055/ep_meta.json

@@ -0,0 +1,421 @@
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+}

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

@@ -0,0 +1,564 @@
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+            "cls": "SingleCabinet"
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+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
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+        "stack_2_left_group_2": {
+            "cls": "Drawer"
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+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
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+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
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+            "cls": "Box"
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+        "cab_1_left_group": {
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+        "cab_2_left_group": {
+            "cls": "HingeCabinet"
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+        "toaster_left_group": {
+            "cls": "Toaster"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_left_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_left_group": {
+            "cls": "Accessory"
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+        "fridge_main_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
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+        "stack_1_main_group_base": {
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+        },
+        "stack_1_main_group_1": {
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+        "stack_1_main_group_2": {
+            "cls": "Drawer"
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+        "stack_1_main_group_3": {
+            "cls": "Drawer"
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+        "stack_2_main_group_base": {
+            "cls": "Box"
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+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
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+        "stack_2_main_group_2": {
+            "cls": "Drawer"
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+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "stovetop_dining_area_group_1": {
+            "cls": "Stovetop"
+        },
+        "dining_dining_area_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_dining_area_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_dining_area_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_dining_area_group_1_2": {
+            "cls": "Drawer"
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+        "stack_2_dining_area_group_1_base": {
+            "cls": "Box"
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+        "stack_2_dining_area_group_1_1": {
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+        "stack_3_dining_area_group_1_base": {
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+        "stack_3_dining_area_group_1_2": {
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+            "cls": "Counter"
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+        "stack_1_dining_area_group_2_base": {
+            "cls": "Box"
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+        "stack_1_dining_area_group_2_1": {
+            "cls": "SingleCabinet"
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+        "stack_1_dining_area_group_2_2": {
+            "cls": "Drawer"
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+        "stack_2_dining_area_group_2_base": {
+            "cls": "Box"
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+        "stack_2_dining_area_group_2_1": {
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+        "stack_2_dining_area_group_2_2": {
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+        "bottom_front_group_base": {
+            "cls": "Box"
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+        "microwave_front_group": {
+            "cls": "Microwave"
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+            "cls": "HousingCabinet"
+        },
+        "top_front_group": {
+            "cls": "HingeCabinet"
+        }
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+    "lang": "Open the dishwasher door.",
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+}

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

@@ -0,0 +1,418 @@
+{
+    "layout_id": 13,
+    "style_id": 53,
+    "object_cfgs": [
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+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_1_main_group_1",
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+                    0.1
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+            "type": "object",
+            "info": {
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+                    "all",
+                    "bottled_water",
+                    "drink"
+                ],
+                "groups": [
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+                "cat": "bottled_water",
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+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bottled_water/bottled_water_1/model.xml"
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+                    -3.469446951953614e-17,
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+            }
+        }
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+    "fixtures": {
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+            "cls": "Wall"
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+        "wall_left_1_backing_room": {
+            "cls": "Wall"
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+        "wall_main_room": {
+            "cls": "Wall"
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+        "wall_main_backing_room": {
+            "cls": "Wall"
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+        "wall_right_1_room": {
+            "cls": "Wall"
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+        "wall_right_1_backing_room": {
+            "cls": "Wall"
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+        "floor_1_room": {
+            "cls": "Floor"
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+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
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+        "wall_accessory_4_room": {
+            "cls": "WallAccessory"
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+        "wall_accessory_5_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_6_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
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+        "stool_2_room": {
+            "cls": "Stool"
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+        "cab_1_main_group_1": {
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+        "cab_2_main_group_1": {
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+            "cls": "Accessory"
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+            "cls": "CoffeeMachine"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
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+        "counter_1_left_group_1": {
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+        "stove_left_group_1": {
+            "cls": "Stove"
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+            "cls": "Counter"
+        },
+        "stack_1_left_group_1_base": {
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+        },
+        "stack_1_left_group_1_1": {
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+        },
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+        "stack_2_left_group_1_1": {
+            "cls": "SingleCabinet"
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+            "cls": "Box"
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+        "hood_left_group_1": {
+            "cls": "Hood"
+        },
+        "cab_1_left_group_1": {
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+        },
+        "cab_2_left_group_1": {
+            "cls": "HingeCabinet"
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+        "cab_3_left_group_1": {
+            "cls": "OpenCabinet"
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+        "counter_1_right_group_1": {
+            "cls": "Counter"
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+        "stack_1_right_group_1_base": {
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+        },
+        "stack_1_right_group_1_1": {
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+        },
+        "stack_2_right_group_1_base": {
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+        "stack_2_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "box_right_group_1": {
+            "cls": "Box"
+        },
+        "microwave_right_group_1": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_1_right_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_1_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_right_group_1": {
+            "cls": "ToasterOven"
+        },
+        "dining_front_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group_1": {
+            "cls": "Counter"
+        },
+        "cube_front_group_1": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_front_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_front_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_front_group_1_3": {
+            "cls": "Drawer"
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+        "stack_4_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_front_group_1_1": {
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+        },
+        "stack_4_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_front_group_1_3": {
+            "cls": "Drawer"
+        }
+    },
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+    "lang": "Open the dishwasher door.",
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+}

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

@@ -0,0 +1,455 @@
+{
+    "layout_id": 57,
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+                    "all"
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+                "cat": "dish_brush",
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+                "offset": [
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+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "bowl",
+                    "stackable",
+                    "receptacle",
+                    "group1",
+                    "container_set2"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "bowl",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bowl/bowl_13/model.xml"
+            },
+            "reset_region": {
+                "size": [
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+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_01_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "hingecabinet_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "sink_main_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "cube_3_main_group_1": {
+            "cls": "Box"
+        },
+        "stack_02_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_02_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_02_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_01_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_01_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_01_main_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_03_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_03_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "dishwasher_1_main_group_1": {
+            "cls": "Dishwasher"
+        },
+        "cube_9_main_group_1": {
+            "cls": "Box"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "fridgesidebyside_main_group_1": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridgesidebyside_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "bottom_main_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "oven_cabinet_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_main_group_1": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_5_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_4_left_group_1": {
+            "cls": "Box"
+        },
+        "counter_corner_1_left_group_1": {
+            "cls": "Counter"
+        },
+        "counter_2_left_group_1": {
+            "cls": "Counter"
+        },
+        "stack_04_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_04_left_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "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_10_left_group_1": {
+            "cls": "Box"
+        },
+        "cube_11_left_group_1": {
+            "cls": "Box"
+        },
+        "coffee_machine_left_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_left_group_1": {
+            "cls": "Accessory"
+        },
+        "island_1_island_group_1": {
+            "cls": "Counter"
+        },
+        "island_2_island_group_1": {
+            "cls": "Counter"
+        },
+        "island_3_island_group_1": {
+            "cls": "Counter"
+        },
+        "stove_island_group_1": {
+            "cls": "Stove"
+        },
+        "stove_hood_island_group_1": {
+            "cls": "Hood"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_island_group_1": {
+            "cls": "Box"
+        },
+        "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_06_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_06_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_06_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_09_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_09_island_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_09_island_group_2_2": {
+            "cls": "Drawer"
+        },
+        "stack_08_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_08_island_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_08_island_group_2_2": {
+            "cls": "Drawer"
+        },
+        "stack_10_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_10_island_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_10_island_group_2_2": {
+            "cls": "Drawer"
+        },
+        "stack_11_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_11_island_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_11_island_group_2_2": {
+            "cls": "Drawer"
+        },
+        "cube_5_island_group_2": {
+            "cls": "Box"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Open the dishwasher door.",
+    "fixture_refs": {
+        "fxtr": "dishwasher_1_main_group_1"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
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+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
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+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
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+                0.29935253,
+                -0.37678665,
+                -0.6775092
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
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+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
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+        "robot0_frontview": {
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+                0,
+                0.95
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+            "quat": [
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+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
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+            "camera_attribs": {
+                "fovy": "60"
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+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
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+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        -0.8671582594579135,
+        -2.4761509418397027,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -0.000175978787528841
+    ]
+}

pretrain/atomic/OpenDishwasher/20250820/lerobot/extras/episode_000065/ep_meta.json

@@ -0,0 +1,483 @@
+{
+    "layout_id": 18,
+    "style_id": 53,
+    "object_cfgs": [
+        {
+            "name": "distr_counter_1",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "sample_region_kwargs": {
+                    "ref": "dishwasher_1_right_group",
+                    "min_size": [
+                        0.0411783695,
+                        0.04113213764999999,
+                        0.15653065134999997
+                    ]
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+                "size": [
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+                    0.5
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+                    null,
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "bottled_drink",
+                    "drink"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "bottled_drink",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bottled_drink/bottled_drink_2/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.800000356247204,
+                    0.65
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+                "offset": [
+                    1.5499998218763977,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "distr_counter_2",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "sample_region_kwargs": {
+                    "ref": "dishwasher_1_right_group",
+                    "min_size": [
+                        0.05496633832750106,
+                        0.10011066582587716,
+                        0.11258375177999994
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.5
+                ],
+                "pos": [
+                    null,
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "eggplant",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "eggplant",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_0/model.xml"
+            },
+            "reset_region": {
+                "size": [
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+                "offset": [
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+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_main_room": {
+            "cls": "Wall"
+        },
+        "wall_main_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_3_room": {
+            "cls": "Wall"
+        },
+        "wall_left_3_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "light_switch_1_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_4_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_5_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_6_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_7_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "window_group_2_room": {
+            "cls": "Window"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "box_1_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "stovetop_left_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_5": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_6": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "PanelCabinet"
+        },
+        "stack_4_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_5": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_6": {
+            "cls": "Drawer"
+        },
+        "stack_5_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "hood_left_group": {
+            "cls": "Hood"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "paper_towel_left_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "sink_1_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "box_1_right_group": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_1_right_group": {
+            "cls": "Dishwasher"
+        },
+        "panel_stack_right_group_base": {
+            "cls": "Box"
+        },
+        "panel_stack_right_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "wall_stack_right_group_base": {
+            "cls": "Box"
+        },
+        "wall_stack_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Open the dishwasher door.",
+    "fixture_refs": {
+        "fxtr": "dishwasher_1_right_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
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+                -0.6,
+                0.0,
+                1.15
+            ],
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+                0.3325185477733612,
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+}

pretrain/atomic/OpenDishwasher/20250820/lerobot/extras/episode_000067/ep_meta.json

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+}

pretrain/atomic/OpenDishwasher/20250820/lerobot/extras/episode_000068/ep_meta.json

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+    "gen_textures": {},
+    "lang": "Open the dishwasher door.",
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+        "robot0_eye_in_hand": {
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+    "init_robot_base_pos": [
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+        0.0,
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+}

pretrain/atomic/OpenDishwasher/20250820/lerobot/extras/episode_000070/ep_meta.json

@@ -0,0 +1,474 @@
+{
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+                "cat": "pitcher",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher003/model.xml"
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+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_2_main_group_1",
+                "sample_region_kwargs": {
+                    "ref": "dishwasher_1_main_group_1",
+                    "min_size": [
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+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "turmeric",
+                    "spice"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "turmeric",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/turmeric/Turmeric007/model.xml"
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+        "wall_left_1_backing_room": {
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+        "wall_main_1_backing_room": {
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+        "wall_right_2_room": {
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+        "wall_right_2_backing_room": {
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+        "wall_right_1_room": {
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+            "cls": "Wall"
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+        "wall_right_3_backing_room": {
+            "cls": "Wall"
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+        "floor_1_backing_room": {
+            "cls": "Floor"
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+        "wallaccessory_01_room": {
+            "cls": "WallAccessory"
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+        "wallaccessory_02_room": {
+            "cls": "WallAccessory"
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+        "wallaccessory_03_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_04_room": {
+            "cls": "WallAccessory"
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+        "wallaccessory_05_room": {
+            "cls": "WallAccessory"
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+            "cls": "WallAccessory"
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+            "cls": "WallAccessory"
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+        "window_group_2_room": {
+            "cls": "Window"
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+        "stool_3_room": {
+            "cls": "Stool"
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+        "stool_1_room": {
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+            "cls": "SingleCabinet"
+        },
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+            "cls": "Box"
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+        "hingecabinet_6_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
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+        "sink_main_group_1": {
+            "cls": "Sink"
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+        "counter_2_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_3_main_group_1": {
+            "cls": "Counter"
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+        "counter_corner_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "stove_main_group_1": {
+            "cls": "Stove"
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+        "microwave_main_group_1": {
+            "cls": "Microwave"
+        },
+        "micro_cab_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_01_main_group_1_base": {
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+        "stack_01_main_group_1_1": {
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+            "cls": "SingleCabinet"
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+        "stack_04_main_group_1_base": {
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+        "stack_04_main_group_1_1": {
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+        },
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+        "stack_06_main_group_1_1": {
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+        "stack_06_main_group_1_2": {
+            "cls": "Drawer"
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+        "stack_06_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "cube_1_main_group_1": {
+            "cls": "Box"
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+        "dishwasher_1_main_group_1": {
+            "cls": "Dishwasher"
+        },
+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "papertowel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "plant_main_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "fridgefrenchdoor_main_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_3_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "counter_4_right_group_1": {
+            "cls": "Counter"
+        },
+        "counter_5_right_group_1": {
+            "cls": "Counter"
+        },
+        "stack_07_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_07_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_08_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_08_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_08_right_group_1_2": {
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+        "cube_1_right_group_1": {
+            "cls": "Box"
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+        "toaster_oven_right_group_1": {
+            "cls": "ToasterOven"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
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+        "stack_09_island_group_1_base": {
+            "cls": "Box"
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+        "stack_09_island_group_1_1": {
+            "cls": "Drawer"
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+        "stack_09_island_group_1_2": {
+            "cls": "Drawer"
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+        "stack_09_island_group_1_3": {
+            "cls": "Drawer"
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+        "stack_11_island_group_1_base": {
+            "cls": "Box"
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+        "stack_11_island_group_1_1": {
+            "cls": "SingleCabinet"
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+        "stack_11_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_10_island_group_1_base": {
+            "cls": "Box"
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+        "stack_10_island_group_1_1": {
+            "cls": "HingeCabinet"
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+        "stack_10_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Open the dishwasher door.",
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+        "fxtr": "dishwasher_1_main_group_1"
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+        "robot0_agentview_left": {
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+                1.05
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+        "robot0_agentview_right": {
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+        "robot0_eye_in_hand": {
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+            "parent_body": "robot0_right_hand"
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+    "init_robot_base_pos": [
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+        0.0
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+        0.0,
+        1.57064844767067
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+}

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

@@ -0,0 +1,465 @@
+{
+    "layout_id": 42,
+    "style_id": 18,
+    "object_cfgs": [
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+            "type": "object",
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+                "groups_containing_sampled_obj": [
+                    "all",
+                    "ice_cube",
+                    "iced_item",
+                    "in_container"
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+                "groups": [
+                    "all"
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+                "cat": "ice_cube",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/ice_cube/IceCube002/model.xml"
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+        },
+        {
+            "name": "distr_counter_2",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "island_island_group_1",
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+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
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+                    "pizza",
+                    "cooked_food",
+                    "food",
+                    "in_container"
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+                "groups": [
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+                "cat": "pizza",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pizza/Pizza001/model.xml"
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+    "fixtures": {
+        "wall_left_1_room": {
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+        "wall_left_1_backing_room": {
+            "cls": "Wall"
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+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
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+        "wall_right_1_room": {
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+        "wall_right_1_backing_room": {
+            "cls": "Wall"
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+        "wall_main_2_room": {
+            "cls": "Wall"
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+        "wall_main_2_backing_room": {
+            "cls": "Wall"
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+        "wall_main_3_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3_backing_room": {
+            "cls": "Wall"
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+        "wall_main_4_room": {
+            "cls": "Wall"
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+        "wall_main_4_backing_room": {
+            "cls": "Wall"
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+        "wall_left_2_room": {
+            "cls": "Wall"
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+        "wall_left_2_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.002_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_4_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
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+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_1_main_group_1": {
+            "cls": "Counter"
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+            "cls": "Stovetop"
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+        "stack_2_right_group_1_3": {
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+            "cls": "Box"
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+        "stack_4_right_group_1_2": {
+            "cls": "Drawer"
+        },
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+        },
+        "bottom_right_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "oven_right_group_1": {
+            "cls": "Oven"
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+        "oven_housing_right_group_1": {
+            "cls": "HousingCabinet"
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+        "microwave_right_group_1": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_right_group_1": {
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+        "toaster_right_group_1": {
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+        "toaster_oven_left_group_1": {
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+        "cube_1_island_group_1": {
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+            "cls": "Box"
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+        "dishwasher_1_island_group_1": {
+            "cls": "Dishwasher"
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+    "gen_textures": {},
+    "lang": "Open the dishwasher door.",
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+        "fxtr": "dishwasher_1_island_group_1"
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+}

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

@@ -0,0 +1,432 @@
+{
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+            "obj_groups": "all",
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+                    "vegetable",
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+                "cat": "garlic",
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+        "counter_stack_main_group_base": {
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+            "cls": "SingleCabinet"
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+        "toaster_main_group": {
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+        "panel_cab_left_group_base": {
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+            "cls": "Dishwasher"
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+        "stack_1_left_group_base": {
+            "cls": "Box"
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+        "stack_1_left_group_2": {
+            "cls": "PanelCabinet"
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+        "stack_2_left_group_base": {
+            "cls": "Box"
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+        "stack_2_left_group_1": {
+            "cls": "SingleCabinet"
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+        "stack_2_left_group_2": {
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+        },
+        "box_left_group": {
+            "cls": "Box"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_left_group": {
+            "cls": "Accessory"
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+        "box_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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+        "cab_1_right_group": {
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+        "dining_dining_group": {
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+}

pretrain/atomic/OpenDishwasher/20250820/lerobot/extras/episode_000085/ep_meta.json

@@ -0,0 +1,452 @@
+{
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+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/spoon/spoon_19/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.7522580305253037,
+                    0.650012
+                ],
+                "offset": [
+                    0.848699995459886,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "lightswitch_5_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_6_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_1_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_3_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stool_4_room": {
+            "cls": "Stool"
+        },
+        "fridgefrenchdoor_right_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "bottom_right_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "microwave_right_group_1": {
+            "cls": "Microwave"
+        },
+        "oven_cabinet_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_5_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_4_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_3_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "opencabinet_right_group_1": {
+            "cls": "OpenCabinet"
+        },
+        "sink_right_group_1": {
+            "cls": "Sink"
+        },
+        "counter_3_right_group_1": {
+            "cls": "Counter"
+        },
+        "stack_04_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_04_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_04_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_06_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_06_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_06_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_06_right_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_03_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_03_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_03_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_05_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_05_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_05_right_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "cube_2_right_group_1": {
+            "cls": "Box"
+        },
+        "cube_1_right_group_1": {
+            "cls": "Box"
+        },
+        "dishwasher_1_right_group_1": {
+            "cls": "Dishwasher"
+        },
+        "coffee_machine_right_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "widestove_main_group_1": {
+            "cls": "Stove"
+        },
+        "stove_hood_main_group_1": {
+            "cls": "Hood"
+        },
+        "counter_2_main_group_1": {
+            "cls": "Counter"
+        },
+        "stack_02_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_02_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_01_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_01_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_4_main_group_1": {
+            "cls": "Box"
+        },
+        "papertowel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group_1": {
+            "cls": "ToasterOven"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_3_island_group_1": {
+            "cls": "Box"
+        },
+        "stack_09_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_09_island_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_09_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_09_island_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_08_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_08_island_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_08_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_08_island_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_07_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_07_island_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_07_island_group_1_2": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Open the dishwasher door.",
+    "fixture_refs": {
+        "fxtr": "dishwasher_1_right_group_1"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
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+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "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": [
+        3.631024740878342,
+        -2.6859279977504804,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -0.00014782238328514552
+    ]
+}

pretrain/atomic/OpenDishwasher/20250820/lerobot/extras/episode_000088/ep_meta.json

@@ -0,0 +1,559 @@
+{
+    "layout_id": 24,
+    "style_id": 26,
+    "object_cfgs": [
+        {
+            "name": "distr_counter_1",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_2_main_group",
+                "sample_region_kwargs": {
+                    "ref": "dishwasher_main_group",
+                    "min_size": [
+                        0.12204599,
+                        0.114306,
+                        0.218286
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.5
+                ],
+                "pos": [
+                    null,
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "flour_bag"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "flour_bag",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/flour_bag/FlourBag002/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    3.107999981445874,
+                    0.65
+                ],
+                "offset": [
+                    0.055500009277063,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "distr_counter_2",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_2_main_group",
+                "sample_region_kwargs": {
+                    "ref": "dishwasher_main_group",
+                    "min_size": [
+                        0.0504136044,
+                        0.049832503199999996,
+                        0.1814850216
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.5
+                ],
+                "pos": [
+                    null,
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "milk",
+                    "drink",
+                    "dairy",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "milk",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/milk/milk_10/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    3.107999981445874,
+                    0.65
+                ],
+                "offset": [
+                    0.055500009277063,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "distr_counter_3",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_2_main_group",
+                "sample_region_kwargs": {
+                    "ref": "dishwasher_main_group",
+                    "min_size": [
+                        0.09887177,
+                        0.13685549000000002,
+                        0.26766823
+                    ]
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+                "size": [
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+                    0.5
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+                "pos": [
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+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pitcher",
+                    "receptacle"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "pitcher",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher002/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    3.107999981445874,
+                    0.65
+                ],
+                "offset": [
+                    0.055500009277063,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_5_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_6_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "window_group_2_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_2_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "dishwasher_main_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_5": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_6": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_7_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_7_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_7_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_7_main_group_3": {
+            "cls": "Drawer"
+        },
+        "wall_stack_main_group_base": {
+            "cls": "Box"
+        },
+        "wall_stack_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "wall_stack_main_group_2": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_4_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_5_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_6_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_cabinet_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "sink_1_island_group_1": {
+            "cls": "Sink"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "box_island_group_1": {
+            "cls": "Box"
+        },
+        "panel_box_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "panel_box_1_island_group_1_1": {
+            "cls": "PanelCabinet"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_island_group_1_2": {
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+}

pretrain/atomic/OpenDishwasher/20250820/lerobot/extras/episode_000089/ep_meta.json

@@ -0,0 +1,421 @@
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+        "fridgefrenchdoor_main_group_1": {
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+        "toaster_oven_right_group_1": {
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+        "island_island_group_1": {
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+        "stack_09_island_group_1_base": {
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+}

pretrain/atomic/OpenDishwasher/20250820/lerobot/extras/episode_000093/ep_meta.json

@@ -0,0 +1,683 @@
+{
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+        },
+        "counter_2_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "box_1_main_group": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "box_2_main_group": {
+            "cls": "Box"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "cab_corner_1_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_above_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_above_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_3_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_above_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_4_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_4_above_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_1_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "box_left_group": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_4_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_5_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_6_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "paper_towel_left_group": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "corner_counter_right_group": {
+            "cls": "Counter"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "box_right_group": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "middle_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "counter_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_right_group_4": {
+            "cls": "Drawer"
+        },
+        "plant_right_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_island_group_2_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_island_group_2_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_island_group_2_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_4_island_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_island_group_2_2": {
+            "cls": "Drawer"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Open the dishwasher door.",
+    "fixture_refs": {
+        "fxtr": "dishwasher_left_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        0.878415852662021,
+        -2.1880002081904943,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415926193612504
+    ]
+}

pretrain/atomic/OpenDishwasher/20250820/lerobot/extras/episode_000096/ep_meta.json

@@ -0,0 +1,524 @@
+{
+    "layout_id": 17,
+    "style_id": 33,
+    "object_cfgs": [
+        {
+            "name": "distr_counter_1",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_1_right_group_1",
+                "sample_region_kwargs": {
+                    "ref": "dishwasher_1_right_group_1",
+                    "min_size": [
+                        0.07652336,
+                        0.07673561000000001,
+                        0.22946233
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.5
+                ],
+                "pos": [
+                    null,
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "juice",
+                    "drink"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "juice",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/juice/Juice004/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.9357787638419459,
+                    0.65
+                ],
+                "offset": [
+                    0.7750000230421263,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "distr_counter_2",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_1_right_group_1",
+                "sample_region_kwargs": {
+                    "ref": "dishwasher_1_right_group_1",
+                    "min_size": [
+                        0.23270280075,
+                        0.23270367960000002,
+                        0.0122388154875
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.5
+                ],
+                "pos": [
+                    null,
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "plate",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_20/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.9357787638419459,
+                    0.65
+                ],
+                "offset": [
+                    0.7750000230421263,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_5_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_6_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group_1": {
+            "cls": "Stovetop"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group_1": {
+            "cls": "Counter"
+        },
+        "box_1_main_group_1": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_7_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_7_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "box_2_main_group_1": {
+            "cls": "Box"
+        },
+        "hood_main_group_1": {
+            "cls": "Hood"
+        },
+        "cab_corner_main_group_1": {
+            "cls": "Box"
+        },
+        "cab_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_2_main_group_1": {
+            "cls": "Box"
+        },
+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "paper_towel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group_1": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_1_3": {
+            "cls": "Drawer"
+        },
+        "box_left_group_1": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "oven_left_group_1": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group_1": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_1_left_group_1": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "fridge_1_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_cabinet_left_group_1": {
+            "cls": "HingeCabinet"
+        },
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+        "stack_1_right_group_1_2": {
+            "cls": "Drawer"
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+        "stack_1_right_group_1_3": {
+            "cls": "Drawer"
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+        "stack_2_right_group_1_2": {
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+}

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

@@ -0,0 +1,452 @@
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+            "cls": "CoffeeMachine"
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+            "cls": "Accessory"
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+        "island_1_island_group_1": {
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+        "island_2_island_group_1": {
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+        "stove_island_group_1": {
+            "cls": "Stove"
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+            "cls": "Hood"
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+        "cube_2_island_group_1": {
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+        "stack_06_island_group_1_1": {
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+}

pretrain/atomic/OpenDishwasher/20250820/lerobot/extras/episode_000098/ep_meta.json

@@ -0,0 +1,474 @@
+{
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+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_01_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_02_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_03_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_04_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_05_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_06_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_07_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "window_group_2_room": {
+            "cls": "Window"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "hingecabinet_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_2_main_group_1": {
+            "cls": "Box"
+        },
+        "hingecabinet_6_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "sink_main_group_1": {
+            "cls": "Sink"
+        },
+        "counter_2_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_3_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "stove_main_group_1": {
+            "cls": "Stove"
+        },
+        "microwave_main_group_1": {
+            "cls": "Microwave"
+        },
+        "micro_cab_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_01_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_01_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_02_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_02_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_02_main_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_03_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_03_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_03_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_04_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_04_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_04_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_05_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_05_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_05_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_06_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_06_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_06_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_06_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "cube_1_main_group_1": {
+            "cls": "Box"
+        },
+        "dishwasher_1_main_group_1": {
+            "cls": "Dishwasher"
+        },
+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "papertowel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "plant_main_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "fridgefrenchdoor_main_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_3_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "counter_4_right_group_1": {
+            "cls": "Counter"
+        },
+        "counter_5_right_group_1": {
+            "cls": "Counter"
+        },
+        "stack_07_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_07_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_08_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_08_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_08_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_1_right_group_1": {
+            "cls": "Box"
+        },
+        "toaster_oven_right_group_1": {
+            "cls": "ToasterOven"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "stack_09_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_09_island_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_09_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_09_island_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_11_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_11_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_11_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_10_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_10_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_10_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Open the dishwasher door.",
+    "fixture_refs": {
+        "fxtr": "dishwasher_1_main_group_1"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.336259476962161,
+        -0.9118416365023195,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.57064844767067
+    ]
+}

pretrain/atomic/OpenDishwasher/20250820/lerobot/extras/episode_000104/ep_meta.json

@@ -0,0 +1,513 @@
+{
+    "layout_id": 22,
+    "style_id": 42,
+    "object_cfgs": [
+        {
+            "name": "distr_counter_1",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_1_left_group",
+                "sample_region_kwargs": {
+                    "ref": "dishwasher_left_group",
+                    "min_size": [
+                        0.16802720000000002,
+                        0.1203952,
+                        0.060301464000000006
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.5
+                ],
+                "pos": [
+                    null,
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "tupperware",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware034/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.7411499847024641,
+                    0.65
+                ],
+                "offset": [
+                    1.1324999923512329,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "distr_counter_2",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_1_left_group",
+                "sample_region_kwargs": {
+                    "ref": "dishwasher_left_group",
+                    "min_size": [
+                        0.08773307999999999,
+                        0.12325784749999999,
+                        0.036399959999999995
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.5
+                ],
+                "pos": [
+                    null,
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "steak",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "steak",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_2/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.7411499847024641,
+                    0.65
+                ],
+                "offset": [
+                    1.1324999923512329,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_front_1_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_2_room": {
+            "cls": "Wall"
+        },
+        "wall_front_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_4_room": {
+            "cls": "Wall"
+        },
+        "wall_main_4_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_3_room": {
+            "cls": "Floor"
+        },
+        "floor_3_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_4_room": {
+            "cls": "Floor"
+        },
+        "floor_4_backing_room": {
+            "cls": "Floor"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_1_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stool_4_room": {
+            "cls": "Stool"
+        },
+        "stool_5_room": {
+            "cls": "Stool"
+        },
+        "stool_6_room": {
+            "cls": "Stool"
+        },
+        "sink_1_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_4_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_left_group": {
+            "cls": "Toaster"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_left_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_left_group": {
+            "cls": "Accessory"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "stovetop_dining_area_group_1": {
+            "cls": "Stovetop"
+        },
+        "dining_dining_area_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_dining_area_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_dining_area_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_dining_area_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_dining_area_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_dining_area_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_dining_area_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_dining_area_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_dining_area_group_1_2": {
+            "cls": "Drawer"
+        },
+        "dining_dining_area_group_2": {
+            "cls": "Counter"
+        },
+        "stack_1_dining_area_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_1_dining_area_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_dining_area_group_2_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_dining_area_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_2_dining_area_group_2_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_dining_area_group_2_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_dining_area_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_3_dining_area_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_dining_area_group_2_2": {
+            "cls": "Drawer"
+        },
+        "bottom_front_group_base": {
+            "cls": "Box"
+        },
+        "bottom_front_group_1": {
+            "cls": "Drawer"
+        },
+        "middle_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_front_group": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_front_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_front_group": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Open the dishwasher door.",
+    "fixture_refs": {
+        "fxtr": "dishwasher_left_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
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+}

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

@@ -0,0 +1,523 @@
+{
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+            "cls": "HingeCabinet"
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+            "cls": "HingeCabinet"
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+        "microwave_main_group": {
+            "cls": "Microwave"
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+        "cab_2_main_group": {
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+        "cab_3_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
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+        "sink_1_front_group": {
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+        },
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+            "cls": "Box"
+        },
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+        "stack_1_front_group_1": {
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+        "dishwasher_front_group": {
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+        },
+        "stack_2_front_group_base": {
+            "cls": "Box"
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+        "stack_2_front_group_1": {
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+        "stack_3_right_group_3": {
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+        "cab_1_right_group": {
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+        "box_1_island_group": {
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+        "box_2_island_group": {
+            "cls": "Box"
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+    "lang": "Open the dishwasher door.",
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+}

pretrain/atomic/OpenDishwasher/20250820/lerobot/extras/episode_000108/ep_meta.json

@@ -0,0 +1,413 @@
+{
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+                    "tool",
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+                "cat": "pizza_cutter",
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+            "cls": "Wall"
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+        "wall_right_2_room": {
+            "cls": "Wall"
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+        "wall_right_2_backing_room": {
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+        "wall_front_1_backing_room": {
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+        "floor_1_room": {
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+        "floor_1_backing_room": {
+            "cls": "Floor"
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+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_1_room": {
+            "cls": "WallAccessory"
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+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
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+        "light_switch_2_room": {
+            "cls": "WallAccessory"
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+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
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+        "light_switch_3_room": {
+            "cls": "WallAccessory"
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+        "light_switch_4_room": {
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+        "window_group_1_room": {
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+        "window_group_2_room": {
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+        "stool_2_room": {
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+        "stool_3_room": {
+            "cls": "Stool"
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+        "stove_main_group": {
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+        "stack_2_main_group_1": {
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+            "cls": "FridgeFrenchDoor"
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+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
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+        "stack_4_main_group_1": {
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+        "stack_4_main_group_2": {
+            "cls": "Drawer"
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+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_4": {
+            "cls": "HingeCabinet"
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+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
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+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "sink_1_front_group": {
+            "cls": "Sink"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "box_front_group": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_front_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_front_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_front_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "box_right_group": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        },
+        "paper_towel_right_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "box_1_island_group": {
+            "cls": "Box"
+        },
+        "box_2_island_group": {
+            "cls": "Box"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Open the dishwasher door.",
+    "fixture_refs": {
+        "fxtr": "dishwasher_front_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": [
+        3.5409298174492068,
+        -4.21143026977434,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -1.5707957029303028
+    ]
+}

pretrain/atomic/OpenDishwasher/20250820/lerobot/extras/episode_000109/ep_meta.json

@@ -0,0 +1,400 @@
+{
+    "layout_id": 19,
+    "style_id": 14,
+    "object_cfgs": [
+        {
+            "name": "distr_counter_1",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_1_right_group_1",
+                "sample_region_kwargs": {
+                    "ref": "dishwasher_1_right_group_1",
+                    "min_size": [
+                        0.0682296,
+                        0.12375264,
+                        0.0281796
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.5
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+                "pos": [
+                    null,
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "chicken_drumstick",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "chicken_drumstick",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick002/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.944000356247205,
+                    0.65
+                ],
+                "offset": [
+                    0.013999821876397478,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_1_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "sink_left_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_1_3": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "bottom_left_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "middle_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "middle_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "top_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_oven_left_group_1": {
+            "cls": "ToasterOven"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group_1": {
+            "cls": "Counter"
+        },
+        "box_1_right_group_1": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "dishwasher_1_right_group_1": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "box_2_right_group_1": {
+            "cls": "Box"
+        },
+        "cab_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "paper_towel_right_group_1": {
+            "cls": "Accessory"
+        },
+        "counter_corner_1_main_group_3": {
+            "cls": "Counter"
+        },
+        "stove_main_group_3": {
+            "cls": "Stove"
+        },
+        "fridge_1_main_group_3": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "fridge_1_housing_main_group_3": {
+            "cls": "HousingCabinet"
+        },
+        "top_1_main_group_3": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group_3": {
+            "cls": "OpenCabinet"
+        },
+        "microwave_main_group_3": {
+            "cls": "Microwave"
+        },
+        "cab_micro_main_group_3": {
+            "cls": "HingeCabinet"
+        },
+        "cab_corner_main_group_3": {
+            "cls": "Box"
+        },
+        "dining_dining_area_group": {
+            "cls": "Counter"
+        },
+        "box_dining_area_group": {
+            "cls": "Box"
+        },
+        "stack_1_dining_area_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_dining_area_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_dining_area_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_dining_area_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_dining_area_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_dining_area_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_dining_area_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_dining_area_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_3_dining_area_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_dining_area_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_dining_area_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_dining_area_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_dining_area_group_4": {
+            "cls": "Drawer"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Open the dishwasher door.",
+    "fixture_refs": {
+        "fxtr": "dishwasher_1_right_group_1"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
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+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
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+                0,
+                0.95
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+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.2683401901912634,
+        -2.224999851985872,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.422854288892552e-08
+    ]
+}

pretrain/atomic/PickPlaceCounterToStove/20250819/lerobot/extras/dataset_meta.json

@@ -0,0 +1,392 @@
+{
+    "date": "8-19-2025",
+    "env": "PickPlaceCounterToStove",
+    "env_args": {
+        "type": 1,
+        "env_name": "PickPlaceCounterToStove",
+        "env_version": "0.5.1",
+        "robosuite_version": "1.5.2",
+        "mujoco_version": "3.3.1",
+        "env_kwargs": {
+            "env_name": "PickPlaceCounterToStove",
+            "robots": "PandaOmron",
+            "layout_ids": -2,
+            "style_ids": -2,
+            "obj_instance_split": "pretrain",
+            "clutter_mode": 0,
+            "translucent_robot": false,
+            "layout_and_style_ids": null,
+            "controller_configs": {
+                "type": "HYBRID_MOBILE_BASE",
+                "composite_controller_specific_configs": {
+                    "left_offset": [
+                        0.0,
+                        0.0,
+                        0.0
+                    ],
+                    "right_offset": [
+                        -0.15,
+                        0.0,
+                        0.35
+                    ],
+                    "left2arm_transform": [
+                        [
+                            1,
+                            0,
+                            0,
+                            0
+                        ],
+                        [
+                            0,
+                            1,
+                            0,
+                            0
+                        ],
+                        [
+                            0,
+                            0,
+                            1,
+                            0
+                        ],
+                        [
+                            0,
+                            0,
+                            0,
+                            1
+                        ]
+                    ],
+                    "right2arm_transform": [
+                        [
+                            0,
+                            0.7071068,
+                            0.7071068,
+                            0
+                        ],
+                        [
+                            1,
+                            0,
+                            0,
+                            0
+                        ],
+                        [
+                            0,
+                            0.7071068,
+                            -0.7071068,
+                            0
+                        ],
+                        [
+                            0,
+                            0,
+                            0,
+                            1
+                        ]
+                    ],
+                    "left2finger_transform": [
+                        [
+                            1,
+                            0,
+                            0,
+                            0
+                        ],
+                        [
+                            0,
+                            1,
+                            0,
+                            0
+                        ],
+                        [
+                            0,
+                            0,
+                            1,
+                            0
+                        ],
+                        [
+                            0,
+                            0,
+                            0,
+                            1
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+                    ],
+                    "right2finger_transform": [
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+                            1,
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+                            0
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+                        [
+                            0,
+                            1,
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+                            0
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+                        [
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+                            1,
+                            0
+                        ],
+                        [
+                            0,
+                            0,
+                            0,
+                            1
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+                    ],
+                    "body_part_ordering": [
+                        "right",
+                        "right_gripper",
+                        "base",
+                        "torso"
+                    ]
+                },
+                "body_parts": {
+                    "right": {
+                        "type": "OSC_POSE",
+                        "input_max": 1,
+                        "input_min": -1,
+                        "output_max": [
+                            0.05,
+                            0.05,
+                            0.05,
+                            0.5,
+                            0.5,
+                            0.5
+                        ],
+                        "output_min": [
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+                            -0.05,
+                            -0.05,
+                            -0.5,
+                            -0.5,
+                            -0.5
+                        ],
+                        "kp": 150,
+                        "damping_ratio": 1,
+                        "impedance_mode": "fixed",
+                        "kp_limits": [
+                            0,
+                            300
+                        ],
+                        "damping_ratio_limits": [
+                            0,
+                            10
+                        ],
+                        "position_limits": null,
+                        "orientation_limits": null,
+                        "uncouple_pos_ori": true,
+                        "input_type": "delta",
+                        "input_ref_frame": "base",
+                        "interpolation": null,
+                        "ramp_ratio": 0.2,
+                        "gripper": {
+                            "type": "GRIP"
+                        }
+                    },
+                    "torso": {
+                        "type": "JOINT_POSITION",
+                        "interpolation": "null",
+                        "kp": 2000
+                    },
+                    "base": {
+                        "type": "JOINT_VELOCITY",
+                        "interpolation": "null"
+                    }
+                }
+            }
+        }
+    },
+    "env_info": {
+        "env_name": "PickPlaceCounterToStove",
+        "robots": "PandaOmron",
+        "layout_ids": -2,
+        "style_ids": -2,
+        "obj_instance_split": "pretrain",
+        "clutter_mode": 0,
+        "translucent_robot": true,
+        "layout_and_style_ids": null,
+        "controller_configs": {
+            "type": "HYBRID_MOBILE_BASE",
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+                    "gripper": {
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+    "robocasa_version": "0.5.1",
+    "robosuite_version": "1.5.2",
+    "time": "7:48:30",
+    "total": 24039
+}

pretrain/atomic/PickPlaceCounterToStove/20250819/lerobot/extras/episode_000000/ep_meta.json

@@ -0,0 +1,469 @@
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+                    "pan"
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+        {
+            "name": "obj_container",
+            "obj_groups": "container",
+            "placement": {
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+                "sample_region_kwargs": {
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+                        0.23310807345,
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+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "container"
+                ],
+                "cat": "plate",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_3/model.xml"
+            },
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+            "cookable": true,
+            "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",
+                    "onion",
+                    "vegetable",
+                    "food",
+                    "in_container"
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+                "groups": [
+                    "food"
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+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/onion/onion_0/model.xml"
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+        "wall_left_1_backing_room": {
+            "cls": "Wall"
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+        "wall_main_1_room": {
+            "cls": "Wall"
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+        "wall_main_1_backing_room": {
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+        "wall_right_1_room": {
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+            "cls": "Wall"
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+            "cls": "WallAccessory"
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+            "cls": "WallAccessory"
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+        "wallaccessory_12_room": {
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+            "cls": "WallAccessory"
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+        "wallaccessory_07_room": {
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+            "cls": "WallAccessory"
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+            "cls": "WallAccessory"
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+            "cls": "WallAccessory"
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+        "stool_2_room": {
+            "cls": "Stool"
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+        "stove_main_group_1": {
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+        },
+        "microwave_main_group_1": {
+            "cls": "Microwave"
+        },
+        "micro_cab_main_group_1": {
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+        },
+        "hingecabinet_01_main_group_1": {
+            "cls": "HingeCabinet"
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+        "hingecabinet_02_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cube_3_main_group_1": {
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+        "singlecabinet_01_main_group_1": {
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+        "stack_6_main_group_1_3": {
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+        "stack_5_main_group_1_base": {
+            "cls": "Box"
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+            "cls": "CoffeeMachine"
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+        "paper_towel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "plant_main_group_1": {
+            "cls": "Accessory"
+        },
+        "fridgebottomfreezer_right_group_1": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "fridgebottomfreezer_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_05_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "counter_6_right_group_1": {
+            "cls": "Counter"
+        },
+        "hingecabinet_04_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_06_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_7_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_7_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_7_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_8_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_8_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "cube_13_right_group_1": {
+            "cls": "Box"
+        },
+        "toaster_oven_right_group_1": {
+            "cls": "ToasterOven"
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+        "sink_left_group_1": {
+            "cls": "Sink"
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+        "counter_1_left_group_1": {
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+        },
+        "counter_5_left_group_1": {
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+        },
+        "cube_1_left_group_1": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_1_base": {
+            "cls": "Box"
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+        "stack_4_left_group_1_1": {
+            "cls": "SingleCabinet"
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+        "stack_2_left_group_1_base": {
+            "cls": "Box"
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+        "stack_2_left_group_1_1": {
+            "cls": "HingeCabinet"
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+        "stack_2_left_group_1_2": {
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+            "cls": "Drawer"
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+            "cls": "Dishwasher"
+        },
+        "toaster_left_group_1": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Pick the onion from the plate and place it in the pan.",
+    "fixture_refs": {
+        "stove": "stove_main_group_1",
+        "counter": "counter_3_main_group_1"
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+        "robot0_agentview_left": {
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+        "robot0_eye_in_hand": {
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+}

pretrain/atomic/PickPlaceCounterToStove/20250819/lerobot/extras/episode_000001/ep_meta.json

@@ -0,0 +1,471 @@
+{
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+                    "all",
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+                    "cookware",
+                    "pots_and_pans"
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+                "groups": [
+                    "pan"
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+                "cat": "pan",
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+        {
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+            "placement": {
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+            "info": {
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+                    "all",
+                    "plate",
+                    "receptacle",
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+                    "container_set2"
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+                "cat": "plate",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml"
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+            "type": "object",
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+                    "all",
+                    "carrot",
+                    "vegetable",
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+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_3/model.xml"
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+    "fixtures": {
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+        "wall_left_1_backing_room": {
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+        "wall_main_1_backing_room": {
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+        "wall_right_1_room": {
+            "cls": "Wall"
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+        "wall_right_1_backing_room": {
+            "cls": "Wall"
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+        "wall_main_2_room": {
+            "cls": "Wall"
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+        "wall_main_2_backing_room": {
+            "cls": "Wall"
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+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
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+        "floor_2_room": {
+            "cls": "Floor"
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+        "floor_2_backing_room": {
+            "cls": "Floor"
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+        "wallaccessory_room": {
+            "cls": "WallAccessory"
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+        "lightswitch_room": {
+            "cls": "WallAccessory"
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+            "cls": "WallAccessory"
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+        "wallaccessory.004_room": {
+            "cls": "WallAccessory"
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+            "cls": "WallAccessory"
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+        "window_group_1_room": {
+            "cls": "Window"
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+        "window_group_2_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
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+        },
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+            "cls": "HingeCabinet"
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+        "stack_3_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_main_group_1_2": {
+            "cls": "Drawer"
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+        "stack_4_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_1_main_group_1": {
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+        "stack_2_main_group_1_1": {
+            "cls": "HingeCabinet"
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+        "dishwasher_1_main_group_1": {
+            "cls": "Dishwasher"
+        },
+        "cube_2_main_group_1": {
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+            "cls": "CoffeeMachine"
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+        "paper_towel_main_group_1": {
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+            "cls": "Stove"
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+        "microwave_right_group_1": {
+            "cls": "Microwave"
+        },
+        "micro_cab_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "counter_2_right_group_1": {
+            "cls": "Counter"
+        },
+        "fridgesidebyside_right_group_1": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridgesidebyside_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_5_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_4_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "cube_1_right_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_right_group_1": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "cube_island_group_1": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_1_base": {
+            "cls": "Box"
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+        "stack_3_island_group_1_1": {
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+            "cls": "Drawer"
+        },
+        "panelbox_2_island_group_1_base": {
+            "cls": "Box"
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+        "panelbox_2_island_group_1_1": {
+            "cls": "PanelCabinet"
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+        "panelbox_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "panelbox_1_island_group_1_1": {
+            "cls": "PanelCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Pick the carrot from the plate and place it in the pan.",
+    "fixture_refs": {
+        "stove": "stove_right_group_1",
+        "counter": "counter_2_right_group_1"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
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+                0.29935253,
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+            "parent_body": "mobilebase0_support"
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+        "robot0_agentview_right": {
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+            "parent_body": "mobilebase0_support"
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+        "robot0_eye_in_hand": {
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+                0.707107,
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+            "parent_body": "robot0_right_hand"
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+    "init_robot_base_pos": [
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+        -2.1321962834616253,
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+        0.0,
+        0.00030199704781619374
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+}

pretrain/atomic/PickPlaceCounterToStove/20250819/lerobot/extras/episode_000002/ep_meta.json

@@ -0,0 +1,491 @@
+{
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+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
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+                "groups": [
+                    "container"
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+                "cat": "plate",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml"
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+        {
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+            "exclude_obj_groups": null,
+            "graspable": true,
+            "cookable": true,
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+                "sample_args": {
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+                    "on_top": true
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+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
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+                    "eggplant",
+                    "vegetable",
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+                    "oven_ready"
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+                "groups": [
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+                "cat": "eggplant",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/eggplant/eggplant_0/model.xml"
+            }
+        }
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+        "wall_left_1_backing_room": {
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+        "wall_main_1_room": {
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+        "wall_main_1_backing_room": {
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+        "wall_right_1_room": {
+            "cls": "Wall"
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+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_room": {
+            "cls": "Wall"
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+        "wall_front_1_backing_room": {
+            "cls": "Wall"
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+        "wall_right_2_room": {
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+        "wall_right_2_backing_room": {
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+        "wall_main_2_room": {
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+        "wall_main_2_backing_room": {
+            "cls": "Wall"
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+            "cls": "Wall"
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+        "wall_main_3_backing_room": {
+            "cls": "Wall"
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+        "floor_1_room": {
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+        "floor_1_backing_room": {
+            "cls": "Floor"
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+        "floor_2_backing_room": {
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+        "wall_accessory_1_room": {
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+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
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+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_5_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_1_room": {
+            "cls": "WallAccessory"
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+        "wall_accessory_6_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_7_room": {
+            "cls": "WallAccessory"
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+        "window_group_room": {
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+        "stool_1_room": {
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+        "stool_2_room": {
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+        "counter_corner_main_group": {
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+        "sink_main_group": {
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+        },
+        "dishwasher_main_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_main_group_base": {
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+        "stack_2_main_group_1": {
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+        },
+        "stack_2_main_group_2": {
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+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
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+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
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+        "stove_left_group": {
+            "cls": "Stove"
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+        "counter_2_left_group": {
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+        "hood_left_group": {
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+            "cls": "Drawer"
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+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
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+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "box_left_group": {
+            "cls": "Box"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_4_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_left_group_2": {
+            "cls": "Drawer"
+        },
+        "counter_3_left_group": {
+            "cls": "Counter"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_4_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
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+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
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+        "stack_1_right_group_2": {
+            "cls": "Drawer"
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+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
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+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
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+        "microwave_right_group": {
+            "cls": "Microwave"
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+        "island_island_group": {
+            "cls": "Counter"
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+        },
+        "stack_1_island_group_1": {
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+        "stack_2_island_group_base": {
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+        },
+        "stack_2_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_island_group_2": {
+            "cls": "Drawer"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Pick the eggplant from the plate and place it in the pan.",
+    "fixture_refs": {
+        "stove": "stove_left_group",
+        "counter": "counter_2_left_group"
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+        "robot0_agentview_right": {
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+        "robot0_eye_in_hand": {
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+        3.1415926193612504
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+}

pretrain/atomic/PickPlaceCounterToStove/20250819/lerobot/extras/episode_000004/ep_meta.json

@@ -0,0 +1,424 @@
+{
+    "layout_id": 52,
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+    "object_cfgs": [
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+            "obj_groups": "pan",
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+            "type": "object",
+            "info": {
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+                    "all",
+                    "pan",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "pan"
+                ],
+                "cat": "pan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_1/model.xml"
+            },
+            "reset_region": {
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+                "name": "rear_left"
+            }
+        },
+        {
+            "name": "obj_container",
+            "obj_groups": "container",
+            "placement": {
+                "fixture": "counter_2_main_group_1",
+                "sample_region_kwargs": {
+                    "ref": "stove_main_group_1",
+                    "min_size": [
+                        0.23125013257500002,
+                        0.23125020817500003,
+                        0.018714614625
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+                ],
+                "try_to_place_in": "container"
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "container"
+                ],
+                "cat": "plate",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_2/model.xml"
+            },
+            "reset_region": {
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+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "obj",
+            "obj_groups": "food",
+            "exclude_obj_groups": null,
+            "graspable": true,
+            "cookable": true,
+            "placement": {
+                "size": [
+                    0.01,
+                    0.01
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "obj_container",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "cream_cheese_stick",
+                    "dairy",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "food"
+                ],
+                "cat": "cream_cheese_stick",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cream_cheese_stick/CreamCheeseStick002/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_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": "Pick the cream cheese stick from the plate and place it in the pan.",
+    "fixture_refs": {
+        "stove": "stove_main_group_1",
+        "counter": "counter_2_main_group_1"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
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+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
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+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
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+                -0.35,
+                1.05
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+                0.3767866790294647,
+                -0.2993525564670563,
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+            "camera_attribs": {
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+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
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+                0,
+                0.95
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+                0.3814677894115448,
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        1.7803091286204151,
+        -0.8497076333085616,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5706272411567803
+    ]
+}

pretrain/atomic/PickPlaceCounterToStove/20250819/lerobot/extras/episode_000007/ep_meta.json

@@ -0,0 +1,502 @@
+{
+    "layout_id": 50,
+    "style_id": 30,
+    "object_cfgs": [
+        {
+            "name": "container",
+            "obj_groups": "pan",
+            "placement": {
+                "fixture": "stove_right_group_1",
+                "ensure_object_boundary_in_range": false,
+                "size": [
+                    0.02,
+                    0.02
+                ],
+                "rotation": [
+                    [
+                        -1.1780972450961724,
+                        -0.7853981633974483
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+                        0.7853981633974483,
+                        1.1780972450961724
+                    ]
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pan",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "pan"
+                ],
+                "cat": "pan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_23/model.xml"
+            },
+            "reset_region": {
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+                    0.14276134893581532,
+                    0.4390424604150111
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+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "rear_left"
+            }
+        },
+        {
+            "name": "obj_container",
+            "obj_groups": "container",
+            "placement": {
+                "fixture": "counter_3_right_group_1",
+                "sample_region_kwargs": {
+                    "ref": "stove_right_group_1",
+                    "min_size": [
+                        0.24499104372000002,
+                        0.24499081394999997,
+                        0.02685923388
+                    ]
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+                "size": [
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+                    0.3
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+                "pos": [
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+                    -1.0
+                ],
+                "try_to_place_in": "container"
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "container"
+                ],
+                "cat": "plate",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_12/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.122982,
+                    0.65
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+                "offset": [
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+                    0.0,
+                    0.46
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+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "obj",
+            "obj_groups": "food",
+            "exclude_obj_groups": null,
+            "graspable": true,
+            "cookable": true,
+            "placement": {
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+                    0.01
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+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "obj_container",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "bell_pepper",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "food"
+                ],
+                "cat": "bell_pepper",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_1/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3.001_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3.001_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "window_group_2_room": {
+            "cls": "Window"
+        },
+        "window_group_3_room": {
+            "cls": "Window"
+        },
+        "sink_main_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "stack_02_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_02_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_02_main_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_01_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_01_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_01_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_03_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_03_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_03_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_09_main_group_1": {
+            "cls": "Box"
+        },
+        "dishwasher_1_main_group_1": {
+            "cls": "Dishwasher"
+        },
+        "papertowel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "cube_01_island_group_1": {
+            "cls": "Box"
+        },
+        "stack_10_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_10_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_10_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_07_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_08_island_group_1": {
+            "cls": "Box"
+        },
+        "plant_island_group_1": {
+            "cls": "Accessory"
+        },
+        "hingecabinet_5_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "counter_2_left_group_1": {
+            "cls": "Counter"
+        },
+        "stack_13_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_13_left_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_13_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_12_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_12_left_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_12_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "fridgefrenchdoor_left_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "bottom_left_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "microwave_left_group_1": {
+            "cls": "Microwave"
+        },
+        "oven_cabinet_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_4_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_oven_left_group_1": {
+            "cls": "ToasterOven"
+        },
+        "hingecabinet_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_3_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "counter_4_right_group_1": {
+            "cls": "Counter"
+        },
+        "counter_3_right_group_1": {
+            "cls": "Counter"
+        },
+        "stove_right_group_1": {
+            "cls": "Stove"
+        },
+        "stove_hood_right_group_1": {
+            "cls": "Hood"
+        },
+        "stack_06_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_06_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_06_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_04_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_04_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_04_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_05_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_05_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_05_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_05_right_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_07_right_group_1_base": {
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+}

pretrain/atomic/PickPlaceCounterToStove/20250819/lerobot/extras/episode_000008/ep_meta.json

@@ -0,0 +1,412 @@
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+            "cls": "Accessory"
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+}

pretrain/atomic/PickPlaceCounterToStove/20250819/lerobot/extras/episode_000010/ep_meta.json

@@ -0,0 +1,661 @@
+{
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+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "box_2_main_group": {
+            "cls": "Box"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "cab_corner_1_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_above_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_above_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_3_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_above_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_4_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_4_above_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_1_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "box_left_group": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_4_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_5_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_6_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "paper_towel_left_group": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "corner_counter_right_group": {
+            "cls": "Counter"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "box_right_group": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "middle_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "counter_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_right_group_4": {
+            "cls": "Drawer"
+        },
+        "plant_right_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_island_group_2_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_island_group_2_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_island_group_2_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_4_island_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_island_group_2_2": {
+            "cls": "Drawer"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Pick the squash from the plate and place it in the pan.",
+    "fixture_refs": {
+        "stove": "stove_main_group",
+        "counter": "counter_1_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.58801136527895,
+        -0.9481272754656597,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}