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pretrain/composite/GatherVegetables/20250805/lerobot/extras/episode_000003/ep_meta.json

@@ -0,0 +1,428 @@
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+}

pretrain/composite/GatherVegetables/20250805/lerobot/extras/episode_000005/ep_meta.json

@@ -0,0 +1,425 @@
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pretrain/composite/GatherVegetables/20250805/lerobot/extras/episode_000006/ep_meta.json

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pretrain/composite/GatherVegetables/20250805/lerobot/extras/episode_000009/ep_meta.json

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+}

pretrain/composite/GatherVegetables/20250805/lerobot/extras/episode_000013/ep_meta.json

@@ -0,0 +1,399 @@
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+}

pretrain/composite/GatherVegetables/20250805/lerobot/extras/episode_000016/ep_meta.json

@@ -0,0 +1,545 @@
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+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "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": {
+            "cls": "Wall"
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+        "wall_main_3_room": {
+            "cls": "Wall"
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+            "cls": "Wall"
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+        "wall_main_2_room": {
+            "cls": "Wall"
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+            "cls": "Wall"
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+            "cls": "Wall"
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+            "cls": "Wall"
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+            "cls": "Wall"
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+            "cls": "Wall"
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+            "cls": "Floor"
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+        "floor_1_backing_room": {
+            "cls": "Floor"
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+        "floor_2_room": {
+            "cls": "Floor"
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+            "cls": "Floor"
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+        "floor_3_room": {
+            "cls": "Floor"
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+        "floor_3_backing_room": {
+            "cls": "Floor"
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+            "cls": "Floor"
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+            "cls": "WallAccessory"
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+        "wall_accessory_2_room": {
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+            "cls": "WallAccessory"
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+        "wall_accessory_4_room": {
+            "cls": "WallAccessory"
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+        "light_switch_1_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
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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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+            "cls": "Stool"
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+        "stool_5_room": {
+            "cls": "Stool"
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+        "stool_6_room": {
+            "cls": "Stool"
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+        "sink_1_left_group": {
+            "cls": "Sink"
+        },
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+            "cls": "Counter"
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+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
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+            "cls": "HingeCabinet"
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+        "stack_2_left_group_2": {
+            "cls": "Drawer"
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+        "oven_left_group": {
+            "cls": "Oven"
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+            "cls": "Box"
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+            "cls": "Dishwasher"
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+            "cls": "HingeCabinet"
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+        "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"
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+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
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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": {
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+            "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"
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+        "stack_2_dining_area_group_1_1": {
+            "cls": "HingeCabinet"
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+        "stack_3_dining_area_group_1_base": {
+            "cls": "Box"
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+        "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"
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+        "stack_3_dining_area_group_2_base": {
+            "cls": "Box"
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+        "stack_3_dining_area_group_2_1": {
+            "cls": "SingleCabinet"
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+        "stack_3_dining_area_group_2_2": {
+            "cls": "Drawer"
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+        "bottom_front_group_base": {
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+        "bottom_front_group_1": {
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+        "middle_front_group": {
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+        "microwave_front_group": {
+            "cls": "Microwave"
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+        "microwave_housing_front_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_front_group": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Pick up the squash and avocado from the sink and place them on the cutting board on the counter.",
+    "fixture_refs": {
+        "sink": "sink_1_left_group",
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+}

pretrain/composite/GatherVegetables/20250805/lerobot/extras/episode_000017/ep_meta.json

@@ -0,0 +1,428 @@
+{
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+    "style_id": 23,
+    "object_cfgs": [
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+            "info": {
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+                    "food",
+                    "in_container"
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+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "bell_pepper",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_0/model.xml"
+            },
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+                    1.0
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+            "type": "object",
+            "info": {
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+                    "tomato",
+                    "vegetable",
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+                    "in_container"
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+                "groups": [
+                    "vegetable"
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+                "cat": "tomato",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_1/model.xml"
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+            "cls": "Floor"
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+        "wallaccessory_3_room": {
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+        "papertowel_main_group_1": {
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+        "hingecabinet_3_right_group_1": {
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+        "hingecabinet_4_right_group_1": {
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+            "cls": "HingeCabinet"
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+            "cls": "Drawer"
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+        "stack_01_right_group_1_3": {
+            "cls": "Drawer"
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+        "toaster_right_group_1": {
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+        "counter_1_left_group_1": {
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+        "stack_05_left_group_1_2": {
+            "cls": "Drawer"
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+            "cls": "Drawer"
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+        "cube_1_left_group_1": {
+            "cls": "Box"
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+        "fridgebottomfreezer_left_group_1": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "fridgebottomfreezer_housing_left_group_1": {
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+        "hingecabinet_5_left_group_1": {
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+        "cab_micro_left_group_1": {
+            "cls": "HingeCabinet"
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+    "gen_textures": {},
+    "lang": "Pick up the bell pepper and tomato from the sink and place them on the cutting board on the counter.",
+    "fixture_refs": {
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pretrain/composite/GatherVegetables/20250805/lerobot/extras/episode_000019/ep_meta.json

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pretrain/composite/GatherVegetables/20250805/lerobot/extras/episode_000021/ep_meta.json

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+            "cls": "Toaster"
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+        "papertowel_main_group_1": {
+            "cls": "Accessory"
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+        "toaster_oven_main_group_1": {
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+            "cls": "Counter"
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+        "stack_05_right_group_1_base": {
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+        "stack_07_right_group_1_base": {
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+        "stack_12_front_group_1_1": {
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+        "stack_13_front_group_1_1": {
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+        "stack_13_front_group_1_2": {
+            "cls": "Drawer"
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+        "stack_13_front_group_1_3": {
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+        "stack_11_front_group_1_2": {
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+        "cube_11_front_group_1": {
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+            "cls": "Box"
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+    "lang": "Pick up the avocado and onion from the sink and place them on the cutting board on the counter.",
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+}

pretrain/composite/GatherVegetables/20250805/lerobot/extras/episode_000023/ep_meta.json

@@ -0,0 +1,466 @@
+{
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+        "stool_2_room": {
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+            "cls": "Box"
+        },
+        "cube_2_right_group_1": {
+            "cls": "Box"
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+        "stack_1_right_group_1_base": {
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+        "stack_1_right_group_1_1": {
+            "cls": "SingleCabinet"
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+        "stack_1_right_group_1_2": {
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+            "cls": "Box"
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+            "cls": "Drawer"
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+        "stack_2_right_group_1_3": {
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+            "cls": "Accessory"
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+        "plant_island_group_1": {
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+}

pretrain/composite/GatherVegetables/20250805/lerobot/extras/episode_000026/ep_meta.json

@@ -0,0 +1,558 @@
+{
+    "layout_id": 17,
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+                "cat": "lemon",
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+        },
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+        "stack_1_left_group_1_3": {
+            "cls": "Drawer"
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+            "cls": "Box"
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+        "bottom_left_group_1_1": {
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+        "oven_left_group_1": {
+            "cls": "Oven"
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+        "oven_housing_left_group_1": {
+            "cls": "HousingCabinet"
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+        "microwave_left_group_1": {
+            "cls": "Microwave"
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+            "cls": "HingeCabinet"
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+        "fridge_1_left_group_1": {
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+        "fridge_1_housing_left_group_1": {
+            "cls": "HousingCabinet"
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+        "fridge_cabinet_left_group_1": {
+            "cls": "HingeCabinet"
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+        "cab_1_left_group_1": {
+            "cls": "HingeCabinet"
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+        "toaster_oven_left_group_1": {
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+        "box_right_group_1": {
+            "cls": "Box"
+        },
+        "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": {
+            "cls": "Box"
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+        "counter_1_right_group_1": {
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+            "cls": "OpenCabinet"
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+        "cab_2_right_group_1": {
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+        "island_island_group_1": {
+            "cls": "Counter"
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+}

pretrain/composite/GatherVegetables/20250805/lerobot/extras/episode_000029/ep_meta.json

@@ -0,0 +1,474 @@
+{
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+                "cat": "sweet_potato",
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+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_1/model.xml"
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+            "cls": "HousingCabinet"
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+        "hingecabinet_5_right_group_1": {
+            "cls": "HingeCabinet"
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+            "cls": "HingeCabinet"
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+        "hingecabinet_1_right_group_1": {
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+        },
+        "hingecabinet_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_right_group_1": {
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+        "cube_1_right_group_1": {
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+        "cube_2_right_group_1": {
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+}

pretrain/composite/GatherVegetables/20250805/lerobot/extras/episode_000034/ep_meta.json

@@ -0,0 +1,515 @@
+{
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+}

pretrain/composite/GatherVegetables/20250805/lerobot/extras/episode_000035/ep_meta.json

@@ -0,0 +1,510 @@
+{
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+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "fixture": "sink_main_group_1",
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+                    0.15
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+                    1.0
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+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "lemon_wedge",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
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+                "cat": "lemon_wedge",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/lemon_wedge/LemonWedge004/model.xml"
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+            "obj_groups": "cutting_board",
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+                "fixture": "counter_2_main_group_1",
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+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "cutting_board",
+                    "receptacle"
+                ],
+                "groups": [
+                    "cutting_board"
+                ],
+                "cat": "cutting_board",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_13/model.xml"
+            },
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+                "name": "geom_0"
+            }
+        }
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+        "wall_left_1_room": {
+            "cls": "Wall"
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+        "wall_left_1_backing_room": {
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+        "wall_main_1_room": {
+            "cls": "Wall"
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+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_backing_room": {
+            "cls": "Wall"
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+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_backing_room": {
+            "cls": "Wall"
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+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
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+            "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"
+        },
+        "wallaccessory_05_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_06_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_07_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
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+        "window_group_2_room": {
+            "cls": "Window"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
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+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
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+        "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"
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+        "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"
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+        "stack_01_main_group_1_1": {
+            "cls": "HingeCabinet"
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+        "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": "Pick up the eggplant and lemon wedge from the sink and place them on the cutting board on the counter.",
+    "fixture_refs": {
+        "sink": "sink_main_group_1",
+        "counter": "counter_2_main_group_1"
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+    "cam_configs": {
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+        "robot0_agentview_left": {
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+                0.35,
+                1.05
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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,
+                0.707107,
+                0.707107,
+                0
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+            "parent_body": "robot0_right_hand"
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+    "init_robot_base_pos": [
+        4.13431126538576,
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+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.57064844767067
+    ]
+}

pretrain/composite/GatherVegetables/20250805/lerobot/extras/episode_000038/ep_meta.json

@@ -0,0 +1,516 @@
+{
+    "layout_id": 18,
+    "style_id": 58,
+    "object_cfgs": [
+        {
+            "name": "veg1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
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+                    0.15
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+                "pos": [
+                    1.0,
+                    1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tomato",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "tomato",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_3/model.xml"
+            },
+            "reset_region": {
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+                    -0.30001439324862383
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+                "name": "basin"
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+        {
+            "name": "veg2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "fixture": "sink_1_right_group",
+                "size": [
+                    0.25,
+                    0.15
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+                "pos": [
+                    -1.0,
+                    1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "lemon",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "food_set1"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "lemon",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lemon/lemon_13/model.xml"
+            },
+            "reset_region": {
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+                    -0.30001439324862383
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+                "size": [
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+                    0.35118815745587006
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+                "height": 0.25718018866726644,
+                "name": "basin"
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+        },
+        {
+            "name": "cutting_board",
+            "obj_groups": "cutting_board",
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "sample_region_kwargs": {
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+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml"
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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_left_1_room": {
+            "cls": "Wall"
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+        "wall_left_1_backing_room": {
+            "cls": "Wall"
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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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+        "wall_left_2_room": {
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+        "floor_1_room": {
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+        "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"
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+        "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"
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+            "cls": "Drawer"
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+        "cab_1_left_group": {
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+}

pretrain/composite/GatherVegetables/20250805/lerobot/extras/episode_000040/ep_meta.json

@@ -0,0 +1,506 @@
+{
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+}

pretrain/composite/GatherVegetables/20250805/lerobot/extras/episode_000041/ep_meta.json

@@ -0,0 +1,427 @@
+{
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+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_13/model.xml"
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+        {
+            "name": "cutting_board",
+            "obj_groups": "cutting_board",
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+                "fixture": "counter_1_main_group_1",
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+                    "all",
+                    "cutting_board",
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+                ],
+                "groups": [
+                    "cutting_board"
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+                "cat": "cutting_board",
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+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_11/model.xml"
+            },
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+                "name": "geom_0"
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+        }
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+        "wall_right_1_room": {
+            "cls": "Wall"
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+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
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+        "wall_main_1_backing_room": {
+            "cls": "Wall"
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+        "floor_1_room": {
+            "cls": "Floor"
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+        "floor_1_backing_room": {
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+        "wallaccessory_2_room": {
+            "cls": "WallAccessory"
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+        "wallaccessory_1_room": {
+            "cls": "WallAccessory"
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+        "lightswitch_01_room": {
+            "cls": "WallAccessory"
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+        "lightswitch_02_room": {
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+        "wallaccessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "fridgebottomfreezer_main_group_1": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "fridgebottomfreezer_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "singlecabinet_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "sink_main_group_1": {
+            "cls": "Sink"
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+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_2_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_04_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_04_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_04_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": "PanelCabinet"
+        },
+        "dishwasher_1_main_group_1": {
+            "cls": "Dishwasher"
+        },
+        "stack_05_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_05_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_05_main_group_1_2": {
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+        "stack_01_main_group_1_base": {
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+        "stack_01_main_group_1_1": {
+            "cls": "SingleCabinet"
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+        "stack_01_main_group_1_2": {
+            "cls": "Drawer"
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+        "stack_03_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_03_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_14_main_group_1": {
+            "cls": "Box"
+        },
+        "cube_13_main_group_1": {
+            "cls": "Box"
+        },
+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "stack_06_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_06_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_06_island_group_1_2": {
+            "cls": "Drawer"
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+        "stack_07_island_group_1_base": {
+            "cls": "Box"
+        },
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+            "cls": "HingeCabinet"
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+        "cube_7_island_group_1": {
+            "cls": "Box"
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+        "cube_8_island_group_1": {
+            "cls": "Box"
+        },
+        "paper_towel_island_group_1": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Pick up the bell pepper and potato from the sink and place them on the cutting board on the counter.",
+    "fixture_refs": {
+        "sink": "sink_main_group_1",
+        "counter": "counter_1_main_group_1"
+    },
+    "cam_configs": {
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+        "robot0_eye_in_hand": {
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+            "quat": [
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+            "parent_body": "robot0_right_hand"
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+    "init_robot_base_pos": [
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+        0.0,
+        1.5706379572530664
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+}

pretrain/composite/GatherVegetables/20250805/lerobot/extras/episode_000042/ep_meta.json

@@ -0,0 +1,541 @@
+{
+    "layout_id": 24,
+    "style_id": 22,
+    "object_cfgs": [
+        {
+            "name": "veg1",
+            "obj_groups": "vegetable",
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+            "placement": {
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+                    0.15
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+                "pos": [
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+                    1.0
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+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
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+                    "carrot",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "food_set1",
+                    "group1"
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+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "carrot",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_0/model.xml"
+            },
+            "reset_region": {
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+            "obj_groups": "vegetable",
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+            "placement": {
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+                    0.15
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+                "pos": [
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+                    1.0
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+            },
+            "type": "object",
+            "info": {
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+                    "all",
+                    "mushroom",
+                    "vegetable",
+                    "food",
+                    "in_container"
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+                "groups": [
+                    "vegetable"
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+                "cat": "mushroom",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_12/model.xml"
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+        "wall_right_1_backing_room": {
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+        "wall_main_1_room": {
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+        "wall_main_1_backing_room": {
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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"
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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"
+        },
+        "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"
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+        "counter_2_main_group": {
+            "cls": "Counter"
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+        "stack_1_main_group_base": {
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+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
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+        "stack_1_main_group_2": {
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+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
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+            "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"
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+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_5": {
+            "cls": "Drawer"
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+        "stack_3_main_group_6": {
+            "cls": "Drawer"
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+        "stack_4_main_group_base": {
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+        "stack_4_main_group_1": {
+            "cls": "Drawer"
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+        "stack_4_main_group_2": {
+            "cls": "Drawer"
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+        "stack_5_main_group_base": {
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+        "stack_5_main_group_1": {
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+        "stack_7_main_group_base": {
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+        "stack_7_main_group_1": {
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+        "stack_7_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_7_main_group_3": {
+            "cls": "Drawer"
+        },
+        "wall_stack_main_group_base": {
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+        "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"
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+        "cab_3_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_4_main_group": {
+            "cls": "SingleCabinet"
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+        "cab_5_main_group": {
+            "cls": "HingeCabinet"
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+        "cab_6_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
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+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
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+        "bottom_right_group_base": {
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+        "bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
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+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
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+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_cabinet_right_group": {
+            "cls": "HingeCabinet"
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+        "sink_1_island_group_1": {
+            "cls": "Sink"
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+        "panel_box_1_island_group_1_base": {
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+            "cls": "PanelCabinet"
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+            "cls": "Drawer"
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+            "cls": "Drawer"
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+        "stack_2_island_group_1_base": {
+            "cls": "Box"
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+        "stack_2_island_group_1_1": {
+            "cls": "SingleCabinet"
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+        "stack_3_island_group_1_base": {
+            "cls": "Box"
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+        "stack_3_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_island_group_1_2": {
+            "cls": "PanelCabinet"
+        },
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+            "cls": "Box"
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+        "stack_4_island_group_1_1": {
+            "cls": "SingleCabinet"
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+        "stack_5_island_group_1_base": {
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+            "cls": "Drawer"
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+        "stack_5_island_group_1_2": {
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pretrain/composite/GatherVegetables/20250805/lerobot/extras/episode_000043/ep_meta.json

@@ -0,0 +1,485 @@
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+}

pretrain/composite/GatherVegetables/20250805/lerobot/extras/episode_000045/ep_meta.json

@@ -0,0 +1,441 @@
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+        "fridgesidebyside_housing_main_group_1": {
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+        "toaster_main_group_1": {
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+        "cube_4_island_group_1": {
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+    "gen_textures": {},
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+}

pretrain/composite/GatherVegetables/20250805/lerobot/extras/episode_000046/ep_meta.json

@@ -0,0 +1,450 @@
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+        "fridgefrenchdoor_left_group_1": {
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+        "fridgefrenchdoor_housing_left_group_1": {
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+        "oven_cabinet_left_group_1": {
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+        "top_left_group_1": {
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+        "island_1_island_group_1": {
+            "cls": "Counter"
+        },
+        "island_2_island_group_1": {
+            "cls": "Counter"
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+        "island_3_island_group_1": {
+            "cls": "Counter"
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+        "stove_island_group_1": {
+            "cls": "Stove"
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+        "stove_hood_island_group_1": {
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+}

pretrain/composite/GatherVegetables/20250805/lerobot/extras/episode_000047/ep_meta.json

@@ -0,0 +1,485 @@
+{
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+                    "in_container"
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+                "groups": [
+                    "vegetable"
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+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/squash/squash_13/model.xml"
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+                "height": 0.12014537308901849,
+                "name": "basin_left"
+            }
+        },
+        {
+            "name": "cutting_board",
+            "obj_groups": "cutting_board",
+            "placement": {
+                "fixture": "counter_1_left_group_1",
+                "sample_region_kwargs": {
+                    "ref": "sink_left_group_1",
+                    "loc": "left_right",
+                    "min_size": [
+                        0.22561077825000012,
+                        0.33319761750000015,
+                        0.007228912500000004
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+                    0.5
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+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "cutting_board",
+                    "receptacle"
+                ],
+                "groups": [
+                    "cutting_board"
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+                "cat": "cutting_board",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_13/model.xml"
+            },
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+        }
+    ],
+    "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"
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+        "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"
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+        "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": "Pick up the garlic and squash from the sink and place them on the cutting board on the counter.",
+    "fixture_refs": {
+        "sink": "sink_left_group_1",
+        "counter": "counter_1_left_group_1"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
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+                0.0,
+                1.15
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+        },
+        "robot0_agentview_left": {
+            "pos": [
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+                0.35,
+                1.05
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+            "quat": [
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+                0.29935253,
+                -0.37678665,
+                -0.6775092
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+            "parent_body": "mobilebase0_support"
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+            "parent_body": "mobilebase0_support"
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+            "parent_body": "mobilebase0_support"
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+        "robot0_eye_in_hand": {
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+                0
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+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
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+            "parent_body": "robot0_right_hand"
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+    "init_robot_base_pos": [
+        0.7700389589957286,
+        -2.074239548567943,
+        0.0
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+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415926193612504
+    ]
+}

pretrain/composite/GatherVegetables/20250805/lerobot/extras/episode_000051/ep_meta.json

@@ -0,0 +1,512 @@
+{
+    "layout_id": 16,
+    "style_id": 42,
+    "object_cfgs": [
+        {
+            "name": "veg1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
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+                    0.15
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+                "pos": [
+                    1.0,
+                    1.0
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+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "mushroom",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "mushroom",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/mushroom/mushroom_15/model.xml"
+            },
+            "reset_region": {
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+                "name": "basin_right"
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+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "fixture": "sink_1_right_group_1",
+                "size": [
+                    0.25,
+                    0.15
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+                "pos": [
+                    -1.0,
+                    1.0
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+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "avocado",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "avocado",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_1/model.xml"
+            },
+            "reset_region": {
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+                    -0.1421234857516468
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+                    0.17437074656821322
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+                "height": 0.07197232028597139,
+                "name": "basin_right"
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+            "obj_groups": "cutting_board",
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+            "info": {
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+                    "receptacle"
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+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml"
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+        "wall_left_3_backing_room": {
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+        },
+        "wall_main_room": {
+            "cls": "Wall"
+        },
+        "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"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
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+        "wall_left_2_backing_room": {
+            "cls": "Wall"
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+        "wall_left_1_room": {
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+        "wall_left_1_backing_room": {
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+        },
+        "wall_left_4_backing_room": {
+            "cls": "Wall"
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+        "wall_left_5_room": {
+            "cls": "Wall"
+        },
+        "wall_left_5_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_right_4_room": {
+            "cls": "Wall"
+        },
+        "wall_right_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"
+        },
+        "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"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "stove_main_group_1": {
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+        },
+        "counter_corner_main_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "fridge_1_main_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_1_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "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"
+        },
+        "stack_1_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "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": {
+            "cls": "Box"
+        },
+        "box_2_island_group": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_base": {
+            "cls": "Box"
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+        "stack_2_island_group_1": {
+            "cls": "Drawer"
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+        "stack_2_island_group_2": {
+            "cls": "Drawer"
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+        "stack_2_island_group_3": {
+            "cls": "Drawer"
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+        "stack_3_island_group_base": {
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+        "stack_3_island_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_2": {
+            "cls": "Drawer"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Pick up the mushroom and avocado from the sink and place them on the cutting board on the counter.",
+    "fixture_refs": {
+        "sink": "sink_1_right_group_1",
+        "counter": "counter_1_right_group_1"
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+        "robot0_eye_in_hand": {
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+            "quat": [
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+                0.707107,
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+            "parent_body": "robot0_right_hand"
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+    "init_robot_base_pos": [
+        2.2636342261605455,
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+        3.422854288892552e-08
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+}

pretrain/composite/GatherVegetables/20250805/lerobot/extras/episode_000052/ep_meta.json

@@ -0,0 +1,645 @@
+{
+    "layout_id": 39,
+    "style_id": 26,
+    "object_cfgs": [
+        {
+            "name": "veg1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
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+                "size": [
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+                    0.15
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+                "pos": [
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+                    1.0
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+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
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+                    "sweet_potato",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "sweet_potato",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sweet_potato/sweet_potato_1/model.xml"
+            },
+            "reset_region": {
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+                "name": "basin"
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+        {
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+            "obj_groups": "vegetable",
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+            "placement": {
+                "fixture": "sink_main_group_1",
+                "size": [
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+                    0.15
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+                "pos": [
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+                    1.0
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+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "garlic",
+                    "vegetable",
+                    "food",
+                    "in_container"
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+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "garlic",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_2/model.xml"
+            },
+            "reset_region": {
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+                "name": "basin"
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+        {
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+            "obj_groups": "cutting_board",
+            "placement": {
+                "fixture": "counter_1_main_group_1",
+                "sample_region_kwargs": {
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+            "info": {
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+        "wall_main_1_backing_room": {
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+        "wall_right_1_room": {
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+        },
+        "wall_right_1_backing_room": {
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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_right_2_backing_room": {
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+        "wall_front_5_backing_room": {
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+            "cls": "Wall"
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+        "wall_front_4_room": {
+            "cls": "Wall"
+        },
+        "wall_front_4_backing_room": {
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+        "wall_right_4_room": {
+            "cls": "Wall"
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+        "wall_right_4_backing_room": {
+            "cls": "Wall"
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+            "cls": "Wall"
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+        "wall_right_3_backing_room": {
+            "cls": "Wall"
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+            "cls": "Wall"
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+            "cls": "Wall"
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+        "wall_front_2_room": {
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+        "wall_front_2_backing_room": {
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+        "wall_front_6_room": {
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+        "wall_front_6_backing_room": {
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+        "wall_front_7_backing_room": {
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+        "floor_1_backing_room": {
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+        "floor_2_room": {
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+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_3_room": {
+            "cls": "Floor"
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+        "floor_3_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_2_room": {
+            "cls": "WallAccessory"
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+        "wallaccessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_5_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_6.001_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
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+        },
+        "sink_main_group_1": {
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+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "fridgefrenchdoor_main_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_4_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_3_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_main_group_1_2": {
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+        },
+        "stack_3_main_group_1_base": {
+            "cls": "Box"
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+        "stack_3_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_1_2": {
+            "cls": "Drawer"
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+        "stack_3_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_1_base": {
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+        "stack_4_main_group_1_1": {
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+        "stack_4_main_group_1_2": {
+            "cls": "Drawer"
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+        "cube_1_main_group_1": {
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+        },
+        "stack_5_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1_1": {
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+        "stack_5_main_group_1_2": {
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+        "stack_6_main_group_1_base": {
+            "cls": "Box"
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+        "stack_6_main_group_1_1": {
+            "cls": "SingleCabinet"
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+        "stack_6_main_group_1_2": {
+            "cls": "Drawer"
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+        "stack_7_main_group_1_base": {
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+        },
+        "stack_7_main_group_1_1": {
+            "cls": "HingeCabinet"
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+        "stack_7_main_group_1_2": {
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+        },
+        "dishwasher_1_main_group_1": {
+            "cls": "Dishwasher"
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+        "toaster_main_group_1": {
+            "cls": "Toaster"
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+        "knifeblock_main_group_1": {
+            "cls": "Accessory"
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+        "papertowel_main_group_1": {
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+        },
+        "stovetop_island_group_1": {
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+        },
+        "island_island_group_1": {
+            "cls": "Counter"
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+        "stack_1_island_group_1_base": {
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+        "stack_1_island_group_1_1": {
+            "cls": "SingleCabinet"
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+        "stack_2_island_group_1_1": {
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+        "stack_3_island_group_1_1": {
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+            "cls": "SingleCabinet"
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+        "stack_7_island_group_2.001_2": {
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+        "stack_8_island_group_2.001_base": {
+            "cls": "Box"
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+        "stack_8_island_group_2.001_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_8_island_group_2.001_2": {
+            "cls": "Drawer"
+        },
+        "counter_1_front_group_1": {
+            "cls": "Counter"
+        },
+        "hingecabinet_2_front_group_1": {
+            "cls": "HingeCabinet"
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+        "hingecabinet_1_front_group_1": {
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+        },
+        "stack_1_front_group_1_base": {
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+        },
+        "stack_1_front_group_1_1": {
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+        "stack_2_front_group_1_base": {
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+        "stack_2_front_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_front_group_1_2": {
+            "cls": "Drawer"
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+        "stack_3_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_front_group_1_1": {
+            "cls": "SingleCabinet"
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+        "stack_3_front_group_1_2": {
+            "cls": "Drawer"
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+        "stack_4_front_group_1_base": {
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+        "stack_4_front_group_1_1": {
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+        "stack_4_front_group_1_2": {
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+        "stack_5_front_group_1_base": {
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+        "stack_5_front_group_1_3": {
+            "cls": "Drawer"
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+        "bottom_front_group_1_base": {
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+        },
+        "bottom_front_group_1_1": {
+            "cls": "Drawer"
+        },
+        "oven_front_group_1": {
+            "cls": "Oven"
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+        "oven_housing_front_group_1": {
+            "cls": "HousingCabinet"
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+        "microwave_front_group_1": {
+            "cls": "Microwave"
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+        "microwave_housing_front_group_1": {
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+        "top_front_group_1": {
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+        "coffeemachine_front_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_oven_front_group_1": {
+            "cls": "ToasterOven"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Pick up the sweet potato and garlic from the sink and place them on the cutting board on the counter.",
+    "fixture_refs": {
+        "sink": "sink_main_group_1",
+        "counter": "counter_1_main_group_1"
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pretrain/composite/GatherVegetables/20250805/lerobot/extras/episode_000054/ep_meta.json

@@ -0,0 +1,461 @@
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+}

pretrain/composite/GatherVegetables/20250805/lerobot/extras/episode_000055/ep_meta.json

@@ -0,0 +1,470 @@
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+        "hingecabinet_3_left_group_1": {
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+}

pretrain/composite/GatherVegetables/20250805/lerobot/extras/episode_000057/ep_meta.json

@@ -0,0 +1,480 @@
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+}

pretrain/composite/GatherVegetables/20250805/lerobot/extras/episode_000058/ep_meta.json

@@ -0,0 +1,465 @@
+{
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+            "cls": "Wall"
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+        "wall_left_3_room": {
+            "cls": "Wall"
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+            "cls": "Floor"
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+            "cls": "Floor"
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+            "cls": "WallAccessory"
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+            "cls": "WallAccessory"
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+        "counter_1_main_group": {
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+        "stove_1_main_group": {
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+        "counter_2_main_group": {
+            "cls": "Counter"
+        },
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+        "stack_1_main_group_1": {
+            "cls": "Drawer"
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+            "cls": "Drawer"
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+        "stack_1_main_group_3": {
+            "cls": "Drawer"
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+        "stack_1_main_group_4": {
+            "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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+        "stack_4_main_group_2": {
+            "cls": "Drawer"
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+        "stack_4_main_group_3": {
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+        "stack_4_main_group_4": {
+            "cls": "Drawer"
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+        "stack_5_main_group_base": {
+            "cls": "Box"
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+            "cls": "SingleCabinet"
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+        "stack_5_main_group_2": {
+            "cls": "SingleCabinet"
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+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
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+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
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+        "cab_3_main_group": {
+            "cls": "HingeCabinet"
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+        "counter_stack_main_group_base": {
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+        "counter_stack_main_group_1": {
+            "cls": "SingleCabinet"
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+        "counter_stack_main_group_2": {
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+        "sink_left_group": {
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+        "counter_1_left_group": {
+            "cls": "Counter"
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+        "counter_left_group": {
+            "cls": "Counter"
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+            "cls": "Box"
+        },
+        "panel_cab_left_group_1": {
+            "cls": "PanelCabinet"
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+        "dishwasher_left_group": {
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+        "stack_1_left_group_base": {
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+            "cls": "HingeCabinet"
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+        "stack_2_left_group_2": {
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+}

pretrain/composite/GatherVegetables/20250805/lerobot/extras/episode_000061/ep_meta.json

@@ -0,0 +1,451 @@
+{
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+        1.5707963267948966
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+}

pretrain/composite/GatherVegetables/20250805/lerobot/extras/episode_000065/ep_meta.json

@@ -0,0 +1,532 @@
+{
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+    "style_id": 24,
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+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
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+                    "potato",
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+                    "food",
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+                    "vegetable"
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+                "cat": "potato",
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+                "groups": [
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+        "wall_right_1_backing_room": {
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+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
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+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
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+        "box_left_group": {
+            "cls": "Box"
+        },
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+        "stack_3_left_group_1": {
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+        "stack_3_left_group_2": {
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+            "cls": "Drawer"
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+        "toaster_left_group": {
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+            "cls": "Counter"
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+        "stack_1_right_group_1": {
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+        "stack_2_right_group_base": {
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+        "stack_3_right_group_2": {
+            "cls": "Drawer"
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+            "cls": "Drawer"
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+        "bottom_right_group_1": {
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+        "fridge_housing_right_group": {
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+        "island_1_island_group": {
+            "cls": "Counter"
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+        "island_box_island_group": {
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+        "panel_stack_1_island_group_base": {
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+            "cls": "PanelCabinet"
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+}

pretrain/composite/GatherVegetables/20250805/lerobot/extras/episode_000067/ep_meta.json

@@ -0,0 +1,479 @@
+{
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+        "fridgefrenchdoor_main_group_1": {
+            "cls": "FridgeFrenchDoor"
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+        "fridgefrenchdoor_housing_main_group_1": {
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+        "bottom_main_group_1_base": {
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+        "bottom_main_group_1_1": {
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+            "cls": "Microwave"
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+        "oven_cabinet_main_group_1": {
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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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+        "stove_main_group_1": {
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+        "stack_03_main_group_1_2": {
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+}

pretrain/composite/GatherVegetables/20250805/lerobot/extras/episode_000068/ep_meta.json

@@ -0,0 +1,468 @@
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+        "hingecabinet_1_left_group_1": {
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+        },
+        "hingecabinet_2_left_group_1": {
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+        },
+        "hingecabinet_3_left_group_1": {
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+        "stack_1_left_group_1_base": {
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+}

pretrain/composite/GatherVegetables/20250805/lerobot/extras/episode_000070/ep_meta.json

@@ -0,0 +1,500 @@
+{
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+                "name": "basin"
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+        },
+        {
+            "name": "cutting_board",
+            "obj_groups": "cutting_board",
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+                "fixture": "counter_1_front_group",
+                "sample_region_kwargs": {
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+                "groups_containing_sampled_obj": [
+                    "all",
+                    "cutting_board",
+                    "receptacle"
+                ],
+                "groups": [
+                    "cutting_board"
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+                "cat": "cutting_board",
+                "split": "train",
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+            "cls": "Wall"
+        },
+        "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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+            "cls": "Wall"
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+        "wall_right_3_room": {
+            "cls": "Wall"
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+        "wall_right_3_backing_room": {
+            "cls": "Wall"
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+            "cls": "Wall"
+        },
+        "wall_right_2_backing_room": {
+            "cls": "Wall"
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+        "wall_front_1_room": {
+            "cls": "Wall"
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+        "wall_front_1_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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+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_1_room": {
+            "cls": "WallAccessory"
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+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
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+        "light_switch_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_4_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "window_group_2_room": {
+            "cls": "Window"
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+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
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+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_2_main_group": {
+            "cls": "Counter"
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+        "stack_1_main_group_base": {
+            "cls": "Box"
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+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
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+        "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_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "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": "HingeCabinet"
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+        "stack_4_main_group_4": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "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"
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+        "stack_1_island_group_1": {
+            "cls": "SingleCabinet"
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+        "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": "Pick up the squash and squash from the sink and place them on the cutting board on the counter.",
+    "fixture_refs": {
+        "sink": "sink_1_front_group",
+        "counter": "counter_1_front_group"
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+        "robot0_eye_in_hand": {
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+            "parent_body": "robot0_right_hand"
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+        3.914140704536876,
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+        0.0
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+        0.0,
+        0.0,
+        -1.5707957029303028
+    ]
+}

pretrain/composite/GatherVegetables/20250805/lerobot/extras/episode_000077/ep_meta.json

@@ -0,0 +1,452 @@
+{
+    "layout_id": 36,
+    "style_id": 55,
+    "object_cfgs": [
+        {
+            "name": "veg1",
+            "obj_groups": "vegetable",
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+            "placement": {
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+                    0.15
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+                "pos": [
+                    1.0,
+                    1.0
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+            },
+            "type": "object",
+            "info": {
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+                    "all",
+                    "bell_pepper",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "bell_pepper",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_0/model.xml"
+            },
+            "reset_region": {
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+                "name": "basin_left"
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+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
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+                "size": [
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+                    0.15
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+                "pos": [
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+                    1.0
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+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "garlic",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "garlic",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_2/model.xml"
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+            "reset_region": {
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+                "name": "basin_left"
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+        {
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+            "obj_groups": "cutting_board",
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+            "info": {
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+                    "receptacle"
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+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_0/model.xml"
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+        "wall_left_1_backing_room": {
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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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+        "wall_right_1_backing_room": {
+            "cls": "Wall"
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+        "wall_left_2_room": {
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+        "wall_left_3_backing_room": {
+            "cls": "Wall"
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+            "cls": "Wall"
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+        "wall_right_3_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_2_room": {
+            "cls": "Wall"
+        },
+        "wall_front_2_backing_room": {
+            "cls": "Wall"
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+            "cls": "Wall"
+        },
+        "wall_left_5_backing_room": {
+            "cls": "Wall"
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+        "wall_right_2_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
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+        "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"
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+        "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"
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+        "stack_2_right_group_1_base": {
+            "cls": "Box"
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+        "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"
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+        "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"
+        },
+        "coffee_machine_left_group_1": {
+            "cls": "CoffeeMachine"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Pick up the bell pepper and garlic from the sink and place them on the cutting board on the counter.",
+    "fixture_refs": {
+        "sink": "sink_left_group_1",
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+}

pretrain/composite/GatherVegetables/20250805/lerobot/extras/episode_000081/ep_meta.json

@@ -0,0 +1,507 @@
+{
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+}

pretrain/composite/GatherVegetables/20250805/lerobot/extras/episode_000082/ep_meta.json

@@ -0,0 +1,545 @@
+{
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pretrain/composite/GatherVegetables/20250805/lerobot/extras/episode_000085/ep_meta.json

@@ -0,0 +1,416 @@
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+}

pretrain/composite/GatherVegetables/20250805/lerobot/extras/episode_000088/ep_meta.json

@@ -0,0 +1,507 @@
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+            "cls": "Floor"
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+            "cls": "SingleCabinet"
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+        "dishwasher_1_main_group_1": {
+            "cls": "Dishwasher"
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+            "cls": "Box"
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+            "cls": "Drawer"
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+        "cab_2_main_group_1": {
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+        },
+        "plant_main_group_1": {
+            "cls": "Accessory"
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+        "paper_towel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "counter_1_left_group_1": {
+            "cls": "Counter"
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+        "stove_left_group_1": {
+            "cls": "Stove"
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+        "counter_2_left_group_1": {
+            "cls": "Counter"
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+        "stack_1_left_group_1_base": {
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+        "stack_1_left_group_1_1": {
+            "cls": "PanelCabinet"
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+        "stack_2_left_group_1_1": {
+            "cls": "SingleCabinet"
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+        "box_left_group_1": {
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+        "hood_left_group_1": {
+            "cls": "Hood"
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+        "cab_1_left_group_1": {
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+        "cab_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_left_group_1": {
+            "cls": "OpenCabinet"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_1_base": {
+            "cls": "Box"
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+        "stack_1_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_1_base": {
+            "cls": "Box"
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+        "stack_2_right_group_1_1": {
+            "cls": "SingleCabinet"
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+        "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": {
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+        "fridge_top_right_group_1": {
+            "cls": "HingeCabinet"
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+        "cab_1_right_group_1": {
+            "cls": "HingeCabinet"
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+        "cab_2_right_group_1": {
+            "cls": "SingleCabinet"
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+        "toaster_oven_right_group_1": {
+            "cls": "ToasterOven"
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+        "dining_front_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group_1": {
+            "cls": "Counter"
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+        "cube_front_group_1": {
+            "cls": "Box"
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+        "stack_1_front_group_1_1": {
+            "cls": "SingleCabinet"
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+        "stack_2_front_group_1_base": {
+            "cls": "Box"
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+        "stack_2_front_group_1_1": {
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+}

pretrain/composite/GatherVegetables/20250805/lerobot/extras/episode_000089/ep_meta.json

@@ -0,0 +1,428 @@
+{
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+                    "vegetable"
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+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_10/model.xml"
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+        "singlecabinet_1_main_group_1": {
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pretrain/composite/GatherVegetables/20250805/lerobot/extras/episode_000091/ep_meta.json

@@ -0,0 +1,536 @@
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+}

pretrain/composite/GatherVegetables/20250805/lerobot/extras/episode_000093/ep_meta.json

@@ -0,0 +1,499 @@
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+                "name": "basin_right"
+            }
+        },
+        {
+            "name": "cutting_board",
+            "obj_groups": "cutting_board",
+            "placement": {
+                "fixture": "counter_1_main_group",
+                "sample_region_kwargs": {
+                    "ref": "sink_1_main_group",
+                    "loc": "left_right",
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+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "cutting_board",
+                    "receptacle"
+                ],
+                "groups": [
+                    "cutting_board"
+                ],
+                "cat": "cutting_board",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_13/model.xml"
+            },
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+                "name": "geom_0"
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+        "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"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
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+        "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_1_room": {
+            "cls": "Window"
+        },
+        "window_group_2_room": {
+            "cls": "Window"
+        },
+        "window_group_3_room": {
+            "cls": "Window"
+        },
+        "window_group_4_room": {
+            "cls": "Window"
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+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
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+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
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+        "sink_1_main_group": {
+            "cls": "Sink"
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+        "counter_1_main_group": {
+            "cls": "Counter"
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+        "box_main_group": {
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+        "stack_1_main_group_base": {
+            "cls": "Box"
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+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_base": {
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+        },
+        "stack_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "middle_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "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": "Drawer"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "box_left_group": {
+            "cls": "Box"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "stove_front_group": {
+            "cls": "Stove"
+        },
+        "counter_2_front_group": {
+            "cls": "Counter"
+        },
+        "counter_3_front_group": {
+            "cls": "Counter"
+        },
+        "counter_4_front_group": {
+            "cls": "Counter"
+        },
+        "counter_5_front_group": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_front_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_front_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_front_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_front_group_2": {
+            "cls": "Drawer"
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+        "box_1_front_group": {
+            "cls": "Box"
+        },
+        "box_2_front_group": {
+            "cls": "Box"
+        },
+        "box_3_front_group": {
+            "cls": "Box"
+        },
+        "hood_front_group": {
+            "cls": "Hood"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Pick up the tomato and potato from the sink and place them on the cutting board on the counter.",
+    "fixture_refs": {
+        "sink": "sink_1_main_group",
+        "counter": "counter_1_main_group"
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+    "cam_configs": {
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+        "robot0_agentview_left": {
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+                0.35,
+                1.05
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+        "robot0_eye_in_hand": {
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+                0
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+            "quat": [
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+        0.0,
+        1.5707963267948966
+    ]
+}

pretrain/composite/GatherVegetables/20250805/lerobot/extras/episode_000095/ep_meta.json

@@ -0,0 +1,514 @@
+{
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+    "style_id": 53,
+    "object_cfgs": [
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+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "food_set1",
+                    "group1"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "carrot",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/carrot/carrot_0/model.xml"
+            },
+            "reset_region": {
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+            "obj_groups": "vegetable",
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+            "placement": {
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+                    0.15
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+                    1.0
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+            "type": "object",
+            "info": {
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+                    "all",
+                    "bell_pepper",
+                    "vegetable",
+                    "food",
+                    "in_container"
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+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "bell_pepper",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_0/model.xml"
+            },
+            "reset_region": {
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+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_1/model.xml"
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+        "wall_main_backing_room": {
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+        "wall_right_1_backing_room": {
+            "cls": "Wall"
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+        "wall_right_2_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"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
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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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+            "cls": "HingeCabinet"
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+            "cls": "Microwave"
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+        "microwave_housing_main_group": {
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+        "top_main_group": {
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+        "counter_1_main_group": {
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+        "sink_main_group": {
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+        },
+        "counter_2_main_group": {
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+        },
+        "stack_1_main_group_base": {
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+        },
+        "stack_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
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+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "SingleCabinet"
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+        "stack_2_main_group_2": {
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+        "stack_3_main_group_base": {
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+        },
+        "stack_3_main_group_1": {
+            "cls": "SingleCabinet"
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+        },
+        "stack_4_main_group_1": {
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+        "stack_6_main_group_1": {
+            "cls": "HingeCabinet"
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+            "cls": "Drawer"
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+        "stack_7_main_group_base": {
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+        },
+        "stack_7_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_7_main_group_2": {
+            "cls": "HingeCabinet"
+        },
+        "stack_7_main_group_3": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "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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+            "cls": "HingeCabinet"
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+        "stack_3_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1": {
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+}

pretrain/composite/GatherVegetables/20250805/lerobot/extras/episode_000096/ep_meta.json

@@ -0,0 +1,498 @@
+{
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+        "stack_2_left_group_3": {
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+}

pretrain/composite/GatherVegetables/20250805/lerobot/extras/episode_000097/ep_meta.json

@@ -0,0 +1,485 @@
+{
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+            "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": "Pick up the lemon wedge and garlic from the sink and place them on the cutting board on the counter.",
+    "fixture_refs": {
+        "sink": "sink_left_group_1",
+        "counter": "counter_1_left_group_1"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        0.7781665564620678,
+        -2.0695140118691366,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415926193612504
+    ]
+}

pretrain/composite/GatherVegetables/20250805/lerobot/extras/episode_000098/ep_meta.json

@@ -0,0 +1,577 @@
+{
+    "layout_id": 20,
+    "style_id": 37,
+    "object_cfgs": [
+        {
+            "name": "veg1",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "fixture": "sink_1_left_group",
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    1.0,
+                    1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "lime",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "lime",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/lime/lime_0/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.114814220890639,
+                    -0.0332509482965441,
+                    -0.26344095561424385
+                ],
+                "size": [
+                    0.41675232205772766,
+                    0.4000341858437333
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+                "height": 0.22770993541680842,
+                "name": "basin"
+            }
+        },
+        {
+            "name": "veg2",
+            "obj_groups": "vegetable",
+            "graspable": true,
+            "placement": {
+                "fixture": "sink_1_left_group",
+                "size": [
+                    0.25,
+                    0.15
+                ],
+                "pos": [
+                    -1.0,
+                    1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "potato",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "food_set1",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "vegetable"
+                ],
+                "cat": "potato",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_11/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.114814220890639,
+                    -0.0332509482965441,
+                    -0.26344095561424385
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+                "size": [
+                    0.41675232205772766,
+                    0.4000341858437333
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+                "height": 0.22770993541680842,
+                "name": "basin"
+            }
+        },
+        {
+            "name": "cutting_board",
+            "obj_groups": "cutting_board",
+            "placement": {
+                "fixture": "counter_1_left_group",
+                "sample_region_kwargs": {
+                    "ref": "sink_1_left_group",
+                    "loc": "left_right",
+                    "min_size": [
+                        0.22561077825000012,
+                        0.33319761750000015,
+                        0.007228912500000004
+                    ]
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+                "size": [
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+                    0.5
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+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "cutting_board",
+                    "receptacle"
+                ],
+                "groups": [
+                    "cutting_board"
+                ],
+                "cat": "cutting_board",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cutting_board/cutting_board_13/model.xml"
+            },
+            "reset_region": {
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+                "offset": [
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+                    -3.469446951953614e-17,
+                    0.46
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+                "name": "geom_1"
+            }
+        }
+    ],
+    "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": {
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+}

pretrain/composite/GatherVegetables/20250805/lerobot/extras/episode_000102/ep_meta.json

@@ -0,0 +1,488 @@
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+}

pretrain/composite/GatherVegetables/20250805/lerobot/extras/episode_000104/ep_meta.json

@@ -0,0 +1,536 @@
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+            "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": {
+            "cls": "Box"
+        },
+        "cube_1_left_group_1": {
+            "cls": "Box"
+        },
+        "knife_block_left_group_1": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Pick up the garlic and garlic from the sink and place them on the cutting board on the counter.",
+    "fixture_refs": {
+        "sink": "sink_left_group_1",
+        "counter": "counter_1_left_group_1"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
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+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
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+                -0.37678665,
+                -0.6775092
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+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
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+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.57081563552387,
+        -2.6756765176893773,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1412906566438026
+    ]
+}

pretrain/composite/ServeSteak/20250718/lerobot/extras/dataset_meta.json

@@ -0,0 +1,390 @@
+{
+    "date": "7-30-2025",
+    "env": "ServeSteak",
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+            "controller_configs": {
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+                "composite_controller_specific_configs": {
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+                    "right2arm_transform": [
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+                    "left2finger_transform": [
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+                        "interpolation": "null"
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+                    "input_type": "delta",
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+                    "interpolation": null,
+                    "ramp_ratio": 0.2,
+                    "gripper": {
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+                "torso": {
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+                    "kp": 2000
+                },
+                "base": {
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+                    "interpolation": "null"
+                }
+            }
+        }
+    },
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+    "robocasa_version": "0.5.1",
+    "robosuite_version": "1.5.2",
+    "time": "22:26:1",
+    "total": 100190
+}

pretrain/composite/ServeSteak/20250718/lerobot/extras/episode_000000/ep_meta.json

@@ -0,0 +1,544 @@
+{
+    "layout_id": 26,
+    "style_id": 29,
+    "object_cfgs": [
+        {
+            "name": "obj_container",
+            "obj_groups": "pan",
+            "placement": {
+                "fixture": "stove_main_group",
+                "size": [
+                    0.05,
+                    0.05
+                ],
+                "ensure_object_boundary_in_range": false,
+                "try_to_place_in": "pan"
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pan",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "pan"
+                ],
+                "cat": "pan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_20/model.xml"
+            },
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+                "name": "front_right"
+            }
+        },
+        {
+            "name": "obj",
+            "obj_groups": "steak",
+            "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",
+                    "steak",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "steak"
+                ],
+                "cat": "steak",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_14/model.xml"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_3_room",
+                    "min_size": [
+                        0.244743326685,
+                        0.24474403597500002,
+                        0.023217144615000004
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+                "pos": [
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+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.988,
+                    0.6
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "dstr_dining",
+            "obj_groups": [
+                "mug",
+                "cup"
+            ],
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stool_3_room",
+                    "min_size": [
+                        0.08596219379999996,
+                        0.08659293719999997,
+                        0.10499803439999995
+                    ]
+                },
+                "size": [
+                    0.5,
+                    0.25
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "cup",
+                    "stackable",
+                    "receptacle"
+                ],
+                "groups": [
+                    "mug",
+                    "cup"
+                ],
+                "cat": "cup",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_3/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.988,
+                    0.6
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_room": {
+            "cls": "Wall"
+        },
+        "wall_main_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "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_front_1_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_4_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": "HingeCabinet"
+        },
+        "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_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_4_main_group_4": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "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": "Pick up the pan with the steak in it and place it on the dining table. Then place the steak on the plate.",
+    "fixture_refs": {
+        "stove": "stove_main_group",
+        "stool": "stool_3_room",
+        "dining_table": "island_island_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.098140545702333,
+        -0.8224971000351285,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}

pretrain/composite/ServeSteak/20250718/lerobot/extras/episode_000001/ep_meta.json

@@ -0,0 +1,511 @@
+{
+    "layout_id": 38,
+    "style_id": 55,
+    "object_cfgs": [
+        {
+            "name": "obj_container",
+            "obj_groups": "pan",
+            "placement": {
+                "fixture": "stove_left_group_1",
+                "size": [
+                    0.05,
+                    0.05
+                ],
+                "ensure_object_boundary_in_range": false,
+                "try_to_place_in": "pan"
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pan",
+                    "receptacle",
+                    "cookware",
+                    "pots_and_pans"
+                ],
+                "groups": [
+                    "pan"
+                ],
+                "cat": "pan",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pan/pan_11/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.14892991335750097,
+                    -0.09519660879380422,
+                    0.46313426675014535
+                ],
+                "size": [
+                    0.1,
+                    0.1
+                ],
+                "name": "front_right"
+            }
+        },
+        {
+            "name": "obj",
+            "obj_groups": "steak",
+            "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",
+                    "steak",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "steak"
+                ],
+                "cat": "steak",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_11/model.xml"
+            }
+        },
+        {
+            "name": "plate",
+            "obj_groups": "plate",
+            "graspable": false,
+            "placement": {
+                "fixture": "island_island_group_1",
+                "sample_region_kwargs": {
+                    "ref": "stool_4_room",
+                    "min_size": [
+                        0.24709981284000002,
+                        0.24709756509000005,
+                        0.021416774287499996
+                    ]
+                },
+                "size": [
+                    0.5,
+                    0.35
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "plate"
+                ],
+                "cat": "plate",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.9490000905343052,
+                    1.079
+                ],
+                "offset": [
+                    -0.9949999547328474,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "dstr_dining",
+            "obj_groups": [
+                "mug",
+                "cup"
+            ],
+            "placement": {
+                "fixture": "island_island_group_1",
+                "sample_region_kwargs": {
+                    "ref": "stool_4_room",
+                    "min_size": [
+                        0.07443605229999997,
+                        0.07443472634999998,
+                        0.11499999999999996
+                    ]
+                },
+                "size": [
+                    0.5,
+                    0.25
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ],
+                "offset": [
+                    0.0,
+                    0.1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "mug",
+                    "cup"
+                ],
+                "cat": "cup",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_2/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.9490000905343052,
+                    1.079
+                ],
+                "offset": [
+                    -0.9949999547328474,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_3_room": {
+            "cls": "Wall"
+        },
+        "wall_left_3_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_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.007_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stool_4_room": {
+            "cls": "Stool"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "sink_main_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "opencabinet_1_main_group_1": {
+            "cls": "OpenCabinet"
+        },
+        "opencabinet_2_main_group_1": {
+            "cls": "OpenCabinet"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "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": "Pick up the pan with the steak in it and place it on the dining table. Then place the steak on the plate.",
+    "fixture_refs": {
+        "stove": "stove_left_group_1",
+        "stool": "stool_4_room",
+        "dining_table": "island_island_group_1"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
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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": [
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+                1.05
+            ],
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+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
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+                0,
+                0.95
+            ],
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
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+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        0.8098144472169392,
+        -4.48111468452117,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1412906566438026
+    ]
+}