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target/composite/CategorizeCondiments/20250814/lerobot/extras/episode_000007/ep_meta.json

@@ -0,0 +1,686 @@
+{
+    "layout_id": 10,
+    "style_id": 10,
+    "object_cfgs": [
+        {
+            "name": "obj1",
+            "obj_groups": [
+                "condiment_bottle",
+                "ketchup",
+                "syrup_bottle"
+            ],
+            "graspable": true,
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "cab_1_main_group",
+                    "min_size": [
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+                        0.04485035999999999,
+                        0.15135712649999997
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+                    0.2
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+                "pos": [
+                    "ref",
+                    -1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "ketchup",
+                    "condiment"
+                ],
+                "groups": [
+                    "condiment_bottle",
+                    "ketchup",
+                    "syrup_bottle"
+                ],
+                "cat": "ketchup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/ketchup/ketchup_8/model.xml"
+            },
+            "reset_region": {
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+                    0.65
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+                "offset": [
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+                    0.46
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+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "obj2",
+            "obj_groups": "shaker",
+            "graspable": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "cab_1_main_group",
+                    "min_size": [
+                        0.05153075309999998,
+                        0.045066413499999985,
+                        0.09499999999999997
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+                "size": [
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+                    0.2
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+                "pos": [
+                    "ref",
+                    -1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "shaker",
+                    "condiment"
+                ],
+                "groups": [
+                    "shaker"
+                ],
+                "cat": "shaker",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/shaker/shaker_3/model.xml"
+            },
+            "reset_region": {
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+                    0.65
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+                "offset": [
+                    0.575,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "cab_obj1",
+            "obj_groups": [
+                "condiment_bottle",
+                "ketchup",
+                "syrup_bottle"
+            ],
+            "graspable": true,
+            "placement": {
+                "fixture": "cab_1_main_group",
+                "size": [
+                    1.0,
+                    0.2
+                ],
+                "pos": [
+                    0,
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "ketchup",
+                    "condiment"
+                ],
+                "groups": [
+                    "condiment_bottle",
+                    "ketchup",
+                    "syrup_bottle"
+                ],
+                "cat": "ketchup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/ketchup/ketchup_4/model.xml"
+            },
+            "reset_region": {
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+                "size": [
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+                    0.34
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+                "height": 0.2666666666666667,
+                "name": "level0"
+            }
+        },
+        {
+            "name": "cab_obj2",
+            "obj_groups": "shaker",
+            "graspable": true,
+            "placement": {
+                "fixture": "cab_1_main_group",
+                "size": [
+                    1.0,
+                    0.2
+                ],
+                "pos": [
+                    0,
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "shaker",
+                    "condiment"
+                ],
+                "groups": [
+                    "shaker"
+                ],
+                "cat": "shaker",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/shaker/shaker_2/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    0.0,
+                    -0.43
+                ],
+                "size": [
+                    0.94,
+                    0.34
+                ],
+                "height": 0.2666666666666667,
+                "name": "level0"
+            }
+        },
+        {
+            "name": "distr_counter1",
+            "obj_groups": "all",
+            "exclude_obj_groups": [
+                "condiment"
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "cab_1_main_group",
+                    "min_size": [
+                        0.025489843804064907,
+                        0.11722573023021647,
+                        0.058794203293469266
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.3
+                ],
+                "pos": [
+                    0.0,
+                    1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "cheese",
+                    "dairy",
+                    "food",
+                    "in_container",
+                    "food_set1"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "cheese",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cheese/cheese_8/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.1,
+                    0.65
+                ],
+                "offset": [
+                    0.575,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_room": {
+            "cls": "Wall"
+        },
+        "wall_front_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_2_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_front_room": {
+            "cls": "Floor"
+        },
+        "floor_front_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "right_corner_box_main_group": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_4": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_left_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "box_left_top_left_group": {
+            "cls": "Box"
+        },
+        "box_left_bottom_left_group": {
+            "cls": "Box"
+        },
+        "box_right_top_left_group": {
+            "cls": "Box"
+        },
+        "box_right_bottom_left_group": {
+            "cls": "Box"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_2": {
+            "cls": "Drawer"
+        },
+        "shelves_front_group": {
+            "cls": "OpenCabinet"
+        },
+        "bottom_front_group_base": {
+            "cls": "Box"
+        },
+        "bottom_front_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_front_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_middle_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_front_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_front_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "utensil_set_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_dining_area_group": {
+            "cls": "Counter"
+        },
+        "paper_towel_dining_area_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_dining_area_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Put the shaker and condiment bottle from the counter next to their counterparts in the cabinet.",
+    "fixture_refs": {
+        "cab": "cab_1_main_group",
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
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+            "quat": [
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+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.1453967103567404,
+        -0.7890144776730297,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}

target/composite/CategorizeCondiments/20250814/lerobot/extras/episode_000044/ep_meta.json

@@ -0,0 +1,609 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
+        {
+            "name": "obj1",
+            "obj_groups": [
+                "condiment_bottle",
+                "ketchup",
+                "syrup_bottle"
+            ],
+            "graspable": true,
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "cab_2_main_group",
+                    "min_size": [
+                        0.07691050730999997,
+                        0.04483985972467152,
+                        0.13798248275120426
+                    ]
+                },
+                "size": [
+                    0.5,
+                    0.2
+                ],
+                "pos": [
+                    "ref",
+                    -1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "condiment_bottle",
+                    "condiment"
+                ],
+                "groups": [
+                    "condiment_bottle",
+                    "ketchup",
+                    "syrup_bottle"
+                ],
+                "cat": "condiment_bottle",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/condiment/condiment_3/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.0,
+                    0.65
+                ],
+                "offset": [
+                    1.4,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "obj2",
+            "obj_groups": "shaker",
+            "graspable": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "cab_2_main_group",
+                    "min_size": [
+                        0.05153075309999998,
+                        0.045066413499999985,
+                        0.09499999999999997
+                    ]
+                },
+                "size": [
+                    0.5,
+                    0.2
+                ],
+                "pos": [
+                    "ref",
+                    -1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "shaker",
+                    "condiment"
+                ],
+                "groups": [
+                    "shaker"
+                ],
+                "cat": "shaker",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/shaker/shaker_3/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.0,
+                    0.65
+                ],
+                "offset": [
+                    1.4,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "cab_obj1",
+            "obj_groups": [
+                "condiment_bottle",
+                "ketchup",
+                "syrup_bottle"
+            ],
+            "graspable": true,
+            "placement": {
+                "fixture": "cab_2_main_group",
+                "size": [
+                    1.0,
+                    0.2
+                ],
+                "pos": [
+                    0,
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "condiment_bottle",
+                    "condiment"
+                ],
+                "groups": [
+                    "condiment_bottle",
+                    "ketchup",
+                    "syrup_bottle"
+                ],
+                "cat": "condiment_bottle",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/condiment/condiment_3/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    0.0,
+                    -0.43
+                ],
+                "size": [
+                    0.94,
+                    0.34
+                ],
+                "height": 0.2666666666666667,
+                "name": "level0"
+            }
+        },
+        {
+            "name": "cab_obj2",
+            "obj_groups": "shaker",
+            "graspable": true,
+            "placement": {
+                "fixture": "cab_2_main_group",
+                "size": [
+                    1.0,
+                    0.2
+                ],
+                "pos": [
+                    0,
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "shaker",
+                    "condiment"
+                ],
+                "groups": [
+                    "shaker"
+                ],
+                "cat": "shaker",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/shaker/shaker_3/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    0.0,
+                    -0.43
+                ],
+                "size": [
+                    0.94,
+                    0.34
+                ],
+                "height": 0.2666666666666667,
+                "name": "level0"
+            }
+        },
+        {
+            "name": "distr_counter1",
+            "obj_groups": "all",
+            "exclude_obj_groups": [
+                "condiment"
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "cab_2_main_group",
+                    "min_size": [
+                        0.060060378420000005,
+                        0.06300000000000001,
+                        0.06097112406
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.3
+                ],
+                "pos": [
+                    0.0,
+                    1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "apple",
+                    "fruit",
+                    "food",
+                    "in_container",
+                    "food_set1",
+                    "group1"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "apple",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/apple/apple_9/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.0,
+                    0.65
+                ],
+                "offset": [
+                    1.4,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Put the shaker and condiment bottle from the counter next to their counterparts in the cabinet.",
+    "fixture_refs": {
+        "cab": "cab_2_main_group",
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.624370419156308,
+        -0.804184930741404,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}

target/composite/CategorizeCondiments/20250814/lerobot/extras/episode_000099/ep_meta.json

@@ -0,0 +1,593 @@
+{
+    "layout_id": 4,
+    "style_id": 4,
+    "object_cfgs": [
+        {
+            "name": "obj1",
+            "obj_groups": [
+                "condiment_bottle",
+                "ketchup",
+                "syrup_bottle"
+            ],
+            "graspable": true,
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "cab_main_main_group",
+                    "min_size": [
+                        0.04485035099999999,
+                        0.04485035999999999,
+                        0.15135712649999997
+                    ]
+                },
+                "size": [
+                    0.5,
+                    0.2
+                ],
+                "pos": [
+                    "ref",
+                    -1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "ketchup",
+                    "condiment"
+                ],
+                "groups": [
+                    "condiment_bottle",
+                    "ketchup",
+                    "syrup_bottle"
+                ],
+                "cat": "ketchup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/ketchup/ketchup_8/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "obj2",
+            "obj_groups": "shaker",
+            "graspable": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "cab_main_main_group",
+                    "min_size": [
+                        0.04855696904999999,
+                        0.048556956699999994,
+                        0.09597072899999999
+                    ]
+                },
+                "size": [
+                    0.5,
+                    0.2
+                ],
+                "pos": [
+                    "ref",
+                    -1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "shaker",
+                    "condiment"
+                ],
+                "groups": [
+                    "shaker"
+                ],
+                "cat": "shaker",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/shaker/shaker_2/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "cab_obj1",
+            "obj_groups": [
+                "condiment_bottle",
+                "ketchup",
+                "syrup_bottle"
+            ],
+            "graspable": true,
+            "placement": {
+                "fixture": "cab_main_main_group",
+                "size": [
+                    1.0,
+                    0.2
+                ],
+                "pos": [
+                    0,
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "syrup_bottle",
+                    "condiment"
+                ],
+                "groups": [
+                    "condiment_bottle",
+                    "ketchup",
+                    "syrup_bottle"
+                ],
+                "cat": "syrup_bottle",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/syrup_bottle/SyrupBottle007/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    0.0,
+                    -0.43
+                ],
+                "size": [
+                    0.94,
+                    0.34
+                ],
+                "height": 0.2666666666666667,
+                "name": "level0"
+            }
+        },
+        {
+            "name": "cab_obj2",
+            "obj_groups": "shaker",
+            "graspable": true,
+            "placement": {
+                "fixture": "cab_main_main_group",
+                "size": [
+                    1.0,
+                    0.2
+                ],
+                "pos": [
+                    0,
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "shaker",
+                    "condiment"
+                ],
+                "groups": [
+                    "shaker"
+                ],
+                "cat": "shaker",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/shaker/shaker_2/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    0.0,
+                    -0.43
+                ],
+                "size": [
+                    0.94,
+                    0.34
+                ],
+                "height": 0.2666666666666667,
+                "name": "level0"
+            }
+        },
+        {
+            "name": "distr_counter1",
+            "obj_groups": "all",
+            "exclude_obj_groups": [
+                "condiment"
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "cab_main_main_group",
+                    "min_size": [
+                        0.033670480800000006,
+                        0.22000000000000003,
+                        0.018392543400000003
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.3
+                ],
+                "pos": [
+                    0.0,
+                    1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "fork",
+                    "utensil"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "fork",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fork/fork_6/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_right_main_group": {
+            "cls": "Counter"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "fridge_cab_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_left_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_left_group": {
+            "cls": "Box"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_left_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Put the shaker and condiment bottle from the counter next to their counterparts in the cabinet.",
+    "fixture_refs": {
+        "cab": "cab_main_main_group",
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        1.2482348745833929,
+        -0.7818446777767912,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}

target/composite/CategorizeCondiments/20250814/lerobot/extras/episode_000101/ep_meta.json

@@ -0,0 +1,625 @@
+{
+    "layout_id": 8,
+    "style_id": 8,
+    "object_cfgs": [
+        {
+            "name": "obj1",
+            "obj_groups": [
+                "condiment_bottle",
+                "ketchup",
+                "syrup_bottle"
+            ],
+            "graspable": true,
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "cab_main_main_group",
+                    "min_size": [
+                        0.07691050730999997,
+                        0.04483985972467152,
+                        0.13798248275120426
+                    ]
+                },
+                "size": [
+                    0.5,
+                    0.2
+                ],
+                "pos": [
+                    "ref",
+                    -1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "condiment_bottle",
+                    "condiment"
+                ],
+                "groups": [
+                    "condiment_bottle",
+                    "ketchup",
+                    "syrup_bottle"
+                ],
+                "cat": "condiment_bottle",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/condiment/condiment_3/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.8999999999999995,
+                    0.65
+                ],
+                "offset": [
+                    -1.0500000000000003,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "obj2",
+            "obj_groups": "shaker",
+            "graspable": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "cab_main_main_group",
+                    "min_size": [
+                        0.04855696904999999,
+                        0.048556956699999994,
+                        0.09597072899999999
+                    ]
+                },
+                "size": [
+                    0.5,
+                    0.2
+                ],
+                "pos": [
+                    "ref",
+                    -1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "shaker",
+                    "condiment"
+                ],
+                "groups": [
+                    "shaker"
+                ],
+                "cat": "shaker",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/shaker/shaker_2/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.8999999999999995,
+                    0.65
+                ],
+                "offset": [
+                    -1.0500000000000003,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "cab_obj1",
+            "obj_groups": [
+                "condiment_bottle",
+                "ketchup",
+                "syrup_bottle"
+            ],
+            "graspable": true,
+            "placement": {
+                "fixture": "cab_main_main_group",
+                "size": [
+                    1.0,
+                    0.2
+                ],
+                "pos": [
+                    0,
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "ketchup",
+                    "condiment"
+                ],
+                "groups": [
+                    "condiment_bottle",
+                    "ketchup",
+                    "syrup_bottle"
+                ],
+                "cat": "ketchup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/ketchup/ketchup_7/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    0.0,
+                    -0.43
+                ],
+                "size": [
+                    0.94,
+                    0.34
+                ],
+                "height": 0.2666666666666667,
+                "name": "level0"
+            }
+        },
+        {
+            "name": "cab_obj2",
+            "obj_groups": "shaker",
+            "graspable": true,
+            "placement": {
+                "fixture": "cab_main_main_group",
+                "size": [
+                    1.0,
+                    0.2
+                ],
+                "pos": [
+                    0,
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "shaker",
+                    "condiment"
+                ],
+                "groups": [
+                    "shaker"
+                ],
+                "cat": "shaker",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/shaker/shaker_3/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    0.0,
+                    -0.43
+                ],
+                "size": [
+                    0.94,
+                    0.34
+                ],
+                "height": 0.2666666666666667,
+                "name": "level0"
+            }
+        },
+        {
+            "name": "distr_counter1",
+            "obj_groups": "all",
+            "exclude_obj_groups": [
+                "condiment"
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "cab_main_main_group",
+                    "min_size": [
+                        0.06434471844,
+                        0.05924060171999998,
+                        0.10881869615999996
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.3
+                ],
+                "pos": [
+                    0.0,
+                    1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "avocado",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "avocado",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/avocado/avocado_8/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.8999999999999995,
+                    0.65
+                ],
+                "offset": [
+                    -1.0500000000000003,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "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": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "flower_vase_right_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Put the shaker and condiment bottle from the counter next to their counterparts in the cabinet.",
+    "fixture_refs": {
+        "cab": "cab_main_main_group",
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
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+                0.3767866790294647,
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+            "parent_body": "mobilebase0_support"
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+        "robot0_frontview": {
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+                0,
+                0.95
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+                "fovy": "60"
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+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
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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": [
+        1.199865858732209,
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+    "init_robot_base_ori": [
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+        0.0,
+        1.5707963267948966
+    ]
+}

target/composite/CategorizeCondiments/20250814/lerobot/extras/episode_000150/ep_meta.json

@@ -0,0 +1,503 @@
+{
+    "layout_id": 1,
+    "style_id": 1,
+    "object_cfgs": [
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+            "name": "obj1",
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+                "syrup_bottle"
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+            "placement": {
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+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/syrup_bottle/SyrupBottle007/model.xml"
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+            "placement": {
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+                "condiment_bottle",
+                "ketchup",
+                "syrup_bottle"
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+        {
+            "name": "cab_obj2",
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+            ],
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+            "info": {
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+                    "jug",
+                    "receptacle"
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+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/jug/jug_7/model.xml"
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+            "cls": "Wall"
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+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "sink_main_group": {
+            "cls": "Sink"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_right_main_group": {
+            "cls": "Counter"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_4_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_main_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_3_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Put the shaker and condiment bottle from the counter next to their counterparts in the cabinet.",
+    "fixture_refs": {
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+    "cam_configs": {
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+        "robot0_agentview_left": {
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+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
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+                0
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+            "quat": [
+                0,
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+            "parent_body": "robot0_right_hand"
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+    "init_robot_base_pos": [
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+        0.0,
+        1.5707963267948966
+    ]
+}

target/composite/CategorizeCondiments/20250814/lerobot/extras/episode_000186/ep_meta.json

@@ -0,0 +1,626 @@
+{
+    "layout_id": 8,
+    "style_id": 8,
+    "object_cfgs": [
+        {
+            "name": "obj1",
+            "obj_groups": [
+                "condiment_bottle",
+                "ketchup",
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+            "init_robot_here": true,
+            "placement": {
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+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
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+                "cat": "syrup_bottle",
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+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/syrup_bottle/SyrupBottle007/model.xml"
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+                "condiment_bottle",
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+        {
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+            "obj_groups": "shaker",
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+            "placement": {
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+                "name": "level0"
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+        },
+        {
+            "name": "distr_counter1",
+            "obj_groups": "all",
+            "exclude_obj_groups": [
+                "condiment"
+            ],
+            "placement": {
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+                    1.0
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+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "bowl",
+                    "receptacle",
+                    "stackable",
+                    "group1",
+                    "container_set2"
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+                "groups": [
+                    "all"
+                ],
+                "cat": "bowl",
+                "split": "test",
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+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
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+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "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": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "flower_vase_right_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Put the shaker and condiment bottle from the counter next to their counterparts in the cabinet.",
+    "fixture_refs": {
+        "cab": "cab_main_main_group",
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        1.2780511836372643,
+        -0.7745313444205384,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}

target/composite/CategorizeCondiments/20250814/lerobot/extras/episode_000187/ep_meta.json

@@ -0,0 +1,677 @@
+{
+    "layout_id": 9,
+    "style_id": 9,
+    "object_cfgs": [
+        {
+            "name": "obj1",
+            "obj_groups": [
+                "condiment_bottle",
+                "ketchup",
+                "syrup_bottle"
+            ],
+            "graspable": true,
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_1_main_group",
+                "sample_region_kwargs": {
+                    "ref": "shelves_2_main_group",
+                    "min_size": [
+                        0.07927886354922187,
+                        0.057431164499999986,
+                        0.15159726442819565
+                    ]
+                },
+                "size": [
+                    0.5,
+                    0.2
+                ],
+                "pos": [
+                    "ref",
+                    -1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "ketchup",
+                    "condiment"
+                ],
+                "groups": [
+                    "condiment_bottle",
+                    "ketchup",
+                    "syrup_bottle"
+                ],
+                "cat": "ketchup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/ketchup/ketchup_3/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.3000000000000005,
+                    0.65
+                ],
+                "offset": [
+                    0.5999999999999996,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "obj2",
+            "obj_groups": "shaker",
+            "graspable": true,
+            "placement": {
+                "fixture": "counter_1_main_group",
+                "sample_region_kwargs": {
+                    "ref": "shelves_2_main_group",
+                    "min_size": [
+                        0.05153075309999998,
+                        0.045066413499999985,
+                        0.09499999999999997
+                    ]
+                },
+                "size": [
+                    0.5,
+                    0.2
+                ],
+                "pos": [
+                    "ref",
+                    -1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "shaker",
+                    "condiment"
+                ],
+                "groups": [
+                    "shaker"
+                ],
+                "cat": "shaker",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/shaker/shaker_3/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.3000000000000005,
+                    0.65
+                ],
+                "offset": [
+                    0.5999999999999996,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "cab_obj1",
+            "obj_groups": [
+                "condiment_bottle",
+                "ketchup",
+                "syrup_bottle"
+            ],
+            "graspable": true,
+            "placement": {
+                "fixture": "shelves_2_main_group",
+                "size": [
+                    1.0,
+                    0.2
+                ],
+                "pos": [
+                    0,
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "syrup_bottle",
+                    "condiment"
+                ],
+                "groups": [
+                    "condiment_bottle",
+                    "ketchup",
+                    "syrup_bottle"
+                ],
+                "cat": "syrup_bottle",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/syrup_bottle/SyrupBottle007/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    0.0,
+                    -0.43000000000000005
+                ],
+                "size": [
+                    0.6,
+                    0.4
+                ],
+                "height": 0.41500000000000004,
+                "name": "level0"
+            }
+        },
+        {
+            "name": "cab_obj2",
+            "obj_groups": "shaker",
+            "graspable": true,
+            "placement": {
+                "fixture": "shelves_2_main_group",
+                "size": [
+                    1.0,
+                    0.2
+                ],
+                "pos": [
+                    0,
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "shaker",
+                    "condiment"
+                ],
+                "groups": [
+                    "shaker"
+                ],
+                "cat": "shaker",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/shaker/shaker_3/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    0.0,
+                    -0.43000000000000005
+                ],
+                "size": [
+                    0.6,
+                    0.4
+                ],
+                "height": 0.41500000000000004,
+                "name": "level0"
+            }
+        },
+        {
+            "name": "distr_counter1",
+            "obj_groups": "all",
+            "exclude_obj_groups": [
+                "condiment"
+            ],
+            "placement": {
+                "fixture": "counter_1_main_group",
+                "sample_region_kwargs": {
+                    "ref": "shelves_2_main_group",
+                    "min_size": [
+                        0.14416,
+                        0.10415903200000001,
+                        0.07119842400000001
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.3
+                ],
+                "pos": [
+                    0.0,
+                    1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "tupperware",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware036/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.3000000000000005,
+                    0.65
+                ],
+                "offset": [
+                    0.5999999999999996,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_1_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_2_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "salt_shaker_front_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_front_group_auxiliary_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "plant_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_left_group": {
+            "cls": "Accessory"
+        },
+        "stack_left_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_right_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "cab_top_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_right_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "side_bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "side_bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_3": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Put the shaker and condiment bottle from the counter next to their counterparts in the cabinet.",
+    "fixture_refs": {
+        "cab": "shelves_2_main_group",
+        "counter": "counter_1_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.9437349300627815,
+        -0.7706548266147838,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}

target/composite/CategorizeCondiments/20250814/lerobot/extras/episode_000220/ep_meta.json

@@ -0,0 +1,683 @@
+{
+    "layout_id": 10,
+    "style_id": 10,
+    "object_cfgs": [
+        {
+            "name": "obj1",
+            "obj_groups": [
+                "condiment_bottle",
+                "ketchup",
+                "syrup_bottle"
+            ],
+            "graspable": true,
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "sample_region_kwargs": {
+                    "ref": "cab_2_right_group",
+                    "min_size": [
+                        0.07691050730999997,
+                        0.04483985972467152,
+                        0.13798248275120426
+                    ]
+                },
+                "size": [
+                    0.5,
+                    0.2
+                ],
+                "pos": [
+                    "ref",
+                    -1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "condiment_bottle",
+                    "condiment"
+                ],
+                "groups": [
+                    "condiment_bottle",
+                    "ketchup",
+                    "syrup_bottle"
+                ],
+                "cat": "condiment_bottle",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/condiment/condiment_3/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.48000000000000065,
+                    0.65
+                ],
+                "offset": [
+                    -0.7549999999999997,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "obj2",
+            "obj_groups": "shaker",
+            "graspable": true,
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "sample_region_kwargs": {
+                    "ref": "cab_2_right_group",
+                    "min_size": [
+                        0.05153075309999998,
+                        0.045066413499999985,
+                        0.09499999999999997
+                    ]
+                },
+                "size": [
+                    0.5,
+                    0.2
+                ],
+                "pos": [
+                    "ref",
+                    -1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "shaker",
+                    "condiment"
+                ],
+                "groups": [
+                    "shaker"
+                ],
+                "cat": "shaker",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/shaker/shaker_3/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.48000000000000065,
+                    0.65
+                ],
+                "offset": [
+                    -0.7549999999999997,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "cab_obj1",
+            "obj_groups": [
+                "condiment_bottle",
+                "ketchup",
+                "syrup_bottle"
+            ],
+            "graspable": true,
+            "placement": {
+                "fixture": "cab_2_right_group",
+                "size": [
+                    1.0,
+                    0.2
+                ],
+                "pos": [
+                    0,
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "condiment_bottle",
+                    "condiment"
+                ],
+                "groups": [
+                    "condiment_bottle",
+                    "ketchup",
+                    "syrup_bottle"
+                ],
+                "cat": "condiment_bottle",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/condiment/condiment_3/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    0.0,
+                    -0.43
+                ],
+                "size": [
+                    0.44,
+                    0.34
+                ],
+                "height": 0.2666666666666667,
+                "name": "level0"
+            }
+        },
+        {
+            "name": "cab_obj2",
+            "obj_groups": "shaker",
+            "graspable": true,
+            "placement": {
+                "fixture": "cab_2_right_group",
+                "size": [
+                    1.0,
+                    0.2
+                ],
+                "pos": [
+                    0,
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "shaker",
+                    "condiment"
+                ],
+                "groups": [
+                    "shaker"
+                ],
+                "cat": "shaker",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/shaker/shaker_2/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    0.0,
+                    -0.43
+                ],
+                "size": [
+                    0.44,
+                    0.34
+                ],
+                "height": 0.2666666666666667,
+                "name": "level0"
+            }
+        },
+        {
+            "name": "distr_counter1",
+            "obj_groups": "all",
+            "exclude_obj_groups": [
+                "condiment"
+            ],
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "sample_region_kwargs": {
+                    "ref": "cab_2_right_group",
+                    "min_size": [
+                        0.06129839393999998,
+                        0.06129869489999998,
+                        0.08549999743499997
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.3
+                ],
+                "pos": [
+                    0.0,
+                    1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "canned_food",
+                    "packaged_food"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "canned_food",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_5/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.48000000000000065,
+                    0.65
+                ],
+                "offset": [
+                    -0.7549999999999997,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_room": {
+            "cls": "Wall"
+        },
+        "wall_front_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_2_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_front_room": {
+            "cls": "Floor"
+        },
+        "floor_front_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "right_corner_box_main_group": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_4": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_left_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "box_left_top_left_group": {
+            "cls": "Box"
+        },
+        "box_left_bottom_left_group": {
+            "cls": "Box"
+        },
+        "box_right_top_left_group": {
+            "cls": "Box"
+        },
+        "box_right_bottom_left_group": {
+            "cls": "Box"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_2": {
+            "cls": "Drawer"
+        },
+        "shelves_front_group": {
+            "cls": "OpenCabinet"
+        },
+        "bottom_front_group_base": {
+            "cls": "Box"
+        },
+        "bottom_front_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_front_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_middle_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_front_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_front_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "utensil_set_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_dining_area_group": {
+            "cls": "Counter"
+        },
+        "paper_towel_dining_area_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_dining_area_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Put the shaker and condiment bottle from the counter next to their counterparts in the cabinet.",
+    "fixture_refs": {
+        "cab": "cab_2_right_group",
+        "counter": "counter_1_right_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
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+        "robot0_eye_in_hand": {
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+                0,
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+    "init_robot_base_pos": [
+        5.0857528015526015,
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+        0.0,
+        -3.673205103416066e-06
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+}

target/composite/CategorizeCondiments/20250814/lerobot/extras/episode_000223/ep_meta.json

@@ -0,0 +1,623 @@
+{
+    "layout_id": 8,
+    "style_id": 8,
+    "object_cfgs": [
+        {
+            "name": "obj1",
+            "obj_groups": [
+                "condiment_bottle",
+                "ketchup",
+                "syrup_bottle"
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+            "init_robot_here": true,
+            "placement": {
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+                    "all",
+                    "ketchup",
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+                    "condiment_bottle",
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+                    "syrup_bottle"
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+                "cat": "ketchup",
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+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/ketchup/ketchup_9/model.xml"
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+            "placement": {
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+            "info": {
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+                    "shaker",
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+                "condiment_bottle",
+                "ketchup",
+                "syrup_bottle"
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+        },
+        {
+            "name": "cab_obj2",
+            "obj_groups": "shaker",
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+            "placement": {
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+            "obj_groups": "all",
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+                "condiment"
+            ],
+            "placement": {
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+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "bar_soap",
+                    "cleaner"
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+                "groups": [
+                    "all"
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+                "cat": "bar_soap",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bar_soap/bar_soap_4/model.xml"
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+            "cls": "Wall"
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+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "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": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "flower_vase_right_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_right_group": {
+            "cls": "Accessory"
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+        "paprika_right_group": {
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+        "cinnamon_right_group": {
+            "cls": "Accessory"
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+    "gen_textures": {},
+    "lang": "Put the shaker and condiment bottle from the counter next to their counterparts in the cabinet.",
+    "fixture_refs": {
+        "cab": "shelves_right_group",
+        "counter": "counter_1_right_group"
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+    "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": [
+        3.579975307256924,
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+        0.0,
+        -3.673205103416066e-06
+    ]
+}

target/composite/CategorizeCondiments/20250814/lerobot/extras/episode_000241/ep_meta.json

@@ -0,0 +1,607 @@
+{
+    "layout_id": 2,
+    "style_id": 2,
+    "object_cfgs": [
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+            "name": "obj1",
+            "obj_groups": [
+                "condiment_bottle",
+                "ketchup",
+                "syrup_bottle"
+            ],
+            "graspable": true,
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "cab_main_main_group",
+                    "min_size": [
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+                        0.04483985972467152,
+                        0.13798248275120426
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+                    0.2
+                ],
+                "pos": [
+                    "ref",
+                    -1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "condiment_bottle",
+                    "condiment"
+                ],
+                "groups": [
+                    "condiment_bottle",
+                    "ketchup",
+                    "syrup_bottle"
+                ],
+                "cat": "condiment_bottle",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/condiment/condiment_3/model.xml"
+            },
+            "reset_region": {
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+                    -3.469446951953614e-17,
+                    0.46
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+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "obj2",
+            "obj_groups": "shaker",
+            "graspable": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "cab_main_main_group",
+                    "min_size": [
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+                        0.045066413499999985,
+                        0.09499999999999997
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+                "size": [
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+                    0.2
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+                "pos": [
+                    "ref",
+                    -1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "shaker",
+                    "condiment"
+                ],
+                "groups": [
+                    "shaker"
+                ],
+                "cat": "shaker",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/shaker/shaker_3/model.xml"
+            },
+            "reset_region": {
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+                    0.46
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+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "cab_obj1",
+            "obj_groups": [
+                "condiment_bottle",
+                "ketchup",
+                "syrup_bottle"
+            ],
+            "graspable": true,
+            "placement": {
+                "fixture": "cab_main_main_group",
+                "size": [
+                    1.0,
+                    0.2
+                ],
+                "pos": [
+                    0,
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "ketchup",
+                    "condiment"
+                ],
+                "groups": [
+                    "condiment_bottle",
+                    "ketchup",
+                    "syrup_bottle"
+                ],
+                "cat": "ketchup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/ketchup/ketchup_4/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    0.0,
+                    -0.43
+                ],
+                "size": [
+                    0.94,
+                    0.34
+                ],
+                "height": 0.2666666666666667,
+                "name": "level0"
+            }
+        },
+        {
+            "name": "cab_obj2",
+            "obj_groups": "shaker",
+            "graspable": true,
+            "placement": {
+                "fixture": "cab_main_main_group",
+                "size": [
+                    1.0,
+                    0.2
+                ],
+                "pos": [
+                    0,
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "shaker",
+                    "condiment"
+                ],
+                "groups": [
+                    "shaker"
+                ],
+                "cat": "shaker",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/shaker/shaker_2/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    0.0,
+                    -0.43
+                ],
+                "size": [
+                    0.94,
+                    0.34
+                ],
+                "height": 0.2666666666666667,
+                "name": "level0"
+            }
+        },
+        {
+            "name": "distr_counter1",
+            "obj_groups": "all",
+            "exclude_obj_groups": [
+                "condiment"
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "cab_main_main_group",
+                    "min_size": [
+                        0.0629455152,
+                        0.11963970507998142,
+                        0.06621757293800225
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.3
+                ],
+                "pos": [
+                    0.0,
+                    1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pear",
+                    "fruit",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "pear",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/pear/pear_19/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.0,
+                    0.65
+                ],
+                "offset": [
+                    -1.4,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "island_stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "island_stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_stack_1_island_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_island_group": {
+            "cls": "Dishwasher"
+        },
+        "island_panel_cab_right_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_right_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_cab_left_island_group_1": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_2": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_3": {
+            "cls": "Drawer"
+        },
+        "island_cab_left_island_group_4": {
+            "cls": "Drawer"
+        },
+        "island_panel_cab_left_island_group_base": {
+            "cls": "Box"
+        },
+        "island_panel_cab_left_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "island_base_box_island_group": {
+            "cls": "Box"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Put the shaker and condiment bottle from the counter next to their counterparts in the cabinet.",
+    "fixture_refs": {
+        "cab": "cab_main_main_group",
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        1.6901194060577407,
+        -0.7671515575007837,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}

target/composite/CategorizeCondiments/20250814/lerobot/extras/episode_000256/ep_meta.json

@@ -0,0 +1,586 @@
+{
+    "layout_id": 5,
+    "style_id": 5,
+    "object_cfgs": [
+        {
+            "name": "obj1",
+            "obj_groups": [
+                "condiment_bottle",
+                "ketchup",
+                "syrup_bottle"
+            ],
+            "graspable": true,
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "cab_main_main_group",
+                    "min_size": [
+                        0.04485035099999999,
+                        0.04485035999999999,
+                        0.15135712649999997
+                    ]
+                },
+                "size": [
+                    0.5,
+                    0.2
+                ],
+                "pos": [
+                    "ref",
+                    -1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "ketchup",
+                    "condiment"
+                ],
+                "groups": [
+                    "condiment_bottle",
+                    "ketchup",
+                    "syrup_bottle"
+                ],
+                "cat": "ketchup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/ketchup/ketchup_8/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.0,
+                    0.65
+                ],
+                "offset": [
+                    -0.49999999999999994,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "obj2",
+            "obj_groups": "shaker",
+            "graspable": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "cab_main_main_group",
+                    "min_size": [
+                        0.04855696904999999,
+                        0.048556956699999994,
+                        0.09597072899999999
+                    ]
+                },
+                "size": [
+                    0.5,
+                    0.2
+                ],
+                "pos": [
+                    "ref",
+                    -1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "shaker",
+                    "condiment"
+                ],
+                "groups": [
+                    "shaker"
+                ],
+                "cat": "shaker",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/shaker/shaker_2/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.0,
+                    0.65
+                ],
+                "offset": [
+                    -0.49999999999999994,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "cab_obj1",
+            "obj_groups": [
+                "condiment_bottle",
+                "ketchup",
+                "syrup_bottle"
+            ],
+            "graspable": true,
+            "placement": {
+                "fixture": "cab_main_main_group",
+                "size": [
+                    1.0,
+                    0.2
+                ],
+                "pos": [
+                    0,
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "ketchup",
+                    "condiment"
+                ],
+                "groups": [
+                    "condiment_bottle",
+                    "ketchup",
+                    "syrup_bottle"
+                ],
+                "cat": "ketchup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/ketchup/ketchup_9/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    0.0,
+                    -0.43
+                ],
+                "size": [
+                    0.94,
+                    0.34
+                ],
+                "height": 0.2666666666666667,
+                "name": "level0"
+            }
+        },
+        {
+            "name": "cab_obj2",
+            "obj_groups": "shaker",
+            "graspable": true,
+            "placement": {
+                "fixture": "cab_main_main_group",
+                "size": [
+                    1.0,
+                    0.2
+                ],
+                "pos": [
+                    0,
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "shaker",
+                    "condiment"
+                ],
+                "groups": [
+                    "shaker"
+                ],
+                "cat": "shaker",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/shaker/shaker_3/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    0.0,
+                    -0.43
+                ],
+                "size": [
+                    0.94,
+                    0.34
+                ],
+                "height": 0.2666666666666667,
+                "name": "level0"
+            }
+        },
+        {
+            "name": "distr_counter1",
+            "obj_groups": "all",
+            "exclude_obj_groups": [
+                "condiment"
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "cab_main_main_group",
+                    "min_size": [
+                        0.056356199999999995,
+                        0.031293,
+                        0.0313164
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.3
+                ],
+                "pos": [
+                    0.0,
+                    1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "marshmallow",
+                    "sweets",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "marshmallow",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/marshmallow/Marshmallow006/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.0,
+                    0.65
+                ],
+                "offset": [
+                    -0.49999999999999994,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "untensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_4_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_left_group_2": {
+            "cls": "Drawer"
+        },
+        "flower_vase_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_left_group": {
+            "cls": "Accessory"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_left_group": {
+            "cls": "Accessory"
+        },
+        "digital_scale_left_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_right_main_group": {
+            "cls": "Counter"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Put the shaker and condiment bottle from the counter next to their counterparts in the cabinet.",
+    "fixture_refs": {
+        "cab": "cab_main_main_group",
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.356665178009056,
+        -0.4333287515980634,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}

target/composite/CategorizeCondiments/20250814/lerobot/extras/episode_000292/ep_meta.json

@@ -0,0 +1,684 @@
+{
+    "layout_id": 10,
+    "style_id": 10,
+    "object_cfgs": [
+        {
+            "name": "obj1",
+            "obj_groups": [
+                "condiment_bottle",
+                "ketchup",
+                "syrup_bottle"
+            ],
+            "graspable": true,
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_1_main_group",
+                "sample_region_kwargs": {
+                    "ref": "shelves_main_group",
+                    "min_size": [
+                        0.04485035099999999,
+                        0.04485035999999999,
+                        0.15135712649999997
+                    ]
+                },
+                "size": [
+                    0.5,
+                    0.2
+                ],
+                "pos": [
+                    "ref",
+                    -1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "ketchup",
+                    "condiment"
+                ],
+                "groups": [
+                    "condiment_bottle",
+                    "ketchup",
+                    "syrup_bottle"
+                ],
+                "cat": "ketchup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/ketchup/ketchup_8/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.6568101580524293,
+                    0.65
+                ],
+                "offset": [
+                    0.07159492097378539,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "obj2",
+            "obj_groups": "shaker",
+            "graspable": true,
+            "placement": {
+                "fixture": "counter_1_main_group",
+                "sample_region_kwargs": {
+                    "ref": "shelves_main_group",
+                    "min_size": [
+                        0.04855696904999999,
+                        0.048556956699999994,
+                        0.09597072899999999
+                    ]
+                },
+                "size": [
+                    0.5,
+                    0.2
+                ],
+                "pos": [
+                    "ref",
+                    -1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "shaker",
+                    "condiment"
+                ],
+                "groups": [
+                    "shaker"
+                ],
+                "cat": "shaker",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/shaker/shaker_2/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.6568101580524293,
+                    0.65
+                ],
+                "offset": [
+                    0.07159492097378539,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "cab_obj1",
+            "obj_groups": [
+                "condiment_bottle",
+                "ketchup",
+                "syrup_bottle"
+            ],
+            "graspable": true,
+            "placement": {
+                "fixture": "shelves_main_group",
+                "size": [
+                    1.0,
+                    0.2
+                ],
+                "pos": [
+                    0,
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "ketchup",
+                    "condiment"
+                ],
+                "groups": [
+                    "condiment_bottle",
+                    "ketchup",
+                    "syrup_bottle"
+                ],
+                "cat": "ketchup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/ketchup/ketchup_8/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    0.0,
+                    -0.43000000000000005
+                ],
+                "size": [
+                    1.65,
+                    0.4
+                ],
+                "height": 0.41500000000000004,
+                "name": "level0"
+            }
+        },
+        {
+            "name": "cab_obj2",
+            "obj_groups": "shaker",
+            "graspable": true,
+            "placement": {
+                "fixture": "shelves_main_group",
+                "size": [
+                    1.0,
+                    0.2
+                ],
+                "pos": [
+                    0,
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "shaker",
+                    "condiment"
+                ],
+                "groups": [
+                    "shaker"
+                ],
+                "cat": "shaker",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/shaker/shaker_2/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    0.0,
+                    -0.43000000000000005
+                ],
+                "size": [
+                    1.65,
+                    0.4
+                ],
+                "height": 0.41500000000000004,
+                "name": "level0"
+            }
+        },
+        {
+            "name": "distr_counter1",
+            "obj_groups": "all",
+            "exclude_obj_groups": [
+                "condiment"
+            ],
+            "placement": {
+                "fixture": "counter_1_main_group",
+                "sample_region_kwargs": {
+                    "ref": "shelves_main_group",
+                    "min_size": [
+                        0.08707892339999997,
+                        0.08707892024999996,
+                        0.10499999999999995
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.3
+                ],
+                "pos": [
+                    0.0,
+                    1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "cup",
+                    "receptacle",
+                    "stackable"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "cup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cup/cup_4/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.6568101580524293,
+                    0.65
+                ],
+                "offset": [
+                    0.07159492097378539,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_room": {
+            "cls": "Wall"
+        },
+        "wall_front_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_2_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_front_room": {
+            "cls": "Floor"
+        },
+        "floor_front_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "right_corner_box_main_group": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_4": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_left_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "box_left_top_left_group": {
+            "cls": "Box"
+        },
+        "box_left_bottom_left_group": {
+            "cls": "Box"
+        },
+        "box_right_top_left_group": {
+            "cls": "Box"
+        },
+        "box_right_bottom_left_group": {
+            "cls": "Box"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_2": {
+            "cls": "Drawer"
+        },
+        "shelves_front_group": {
+            "cls": "OpenCabinet"
+        },
+        "bottom_front_group_base": {
+            "cls": "Box"
+        },
+        "bottom_front_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_front_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_middle_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_front_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_front_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "utensil_set_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_dining_area_group": {
+            "cls": "Counter"
+        },
+        "paper_towel_dining_area_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_dining_area_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Put the shaker and condiment bottle from the counter next to their counterparts in the cabinet.",
+    "fixture_refs": {
+        "cab": "shelves_main_group",
+        "counter": "counter_1_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
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+                1.15
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+            "parent_body": "mobilebase0_support"
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+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
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+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
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+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.473333116150766,
+        -0.8281710730429215,
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+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}

target/composite/CategorizeCondiments/20250814/lerobot/extras/episode_000302/ep_meta.json

@@ -0,0 +1,623 @@
+{
+    "layout_id": 8,
+    "style_id": 8,
+    "object_cfgs": [
+        {
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+            "obj_groups": [
+                "condiment_bottle",
+                "ketchup",
+                "syrup_bottle"
+            ],
+            "graspable": true,
+            "init_robot_here": true,
+            "placement": {
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+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "ketchup",
+                    "condiment"
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+                "groups": [
+                    "condiment_bottle",
+                    "ketchup",
+                    "syrup_bottle"
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+                "cat": "ketchup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/ketchup/ketchup_7/model.xml"
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+            "obj_groups": "shaker",
+            "graspable": true,
+            "placement": {
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+                    -1
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+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "shaker",
+                    "condiment"
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+                "groups": [
+                    "shaker"
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+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/shaker/shaker_3/model.xml"
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+                "ketchup",
+                "syrup_bottle"
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+            "obj_groups": "shaker",
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+            "placement": {
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+                    "shaker"
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+            }
+        },
+        {
+            "name": "distr_counter1",
+            "obj_groups": "all",
+            "exclude_obj_groups": [
+                "condiment"
+            ],
+            "placement": {
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+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
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+                    "sponge",
+                    "cleaner"
+                ],
+                "groups": [
+                    "all"
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+                "cat": "sponge",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/sponge/sponge_5/model.xml"
+            },
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+            }
+        }
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+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
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+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
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+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "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": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "salt_shaker_left_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_left_group_auxiliary_left_group": {
+            "cls": "Accessory"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_4": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "flower_vase_right_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_right_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_right_group": {
+            "cls": "Accessory"
+        },
+        "paprika_right_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_right_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Put the shaker and condiment bottle from the counter next to their counterparts in the cabinet.",
+    "fixture_refs": {
+        "cab": "cab_1_left_group",
+        "counter": "counter_1_left_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
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+                -0.6,
+                0.0,
+                1.15
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+        "robot0_agentview_left": {
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+            "parent_body": "mobilebase0_support"
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+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
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+            "quat": [
+                0,
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+                0.707107,
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+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        0.8455285980976337,
+        -1.0496230219120635,
+        0.0
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+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415963267948968
+    ]
+}

target/composite/CategorizeCondiments/20250814/lerobot/extras/episode_000320/ep_meta.json

@@ -0,0 +1,587 @@
+{
+    "layout_id": 5,
+    "style_id": 5,
+    "object_cfgs": [
+        {
+            "name": "obj1",
+            "obj_groups": [
+                "condiment_bottle",
+                "ketchup",
+                "syrup_bottle"
+            ],
+            "graspable": true,
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_left_group",
+                "sample_region_kwargs": {
+                    "ref": "cab_1_left_group",
+                    "min_size": [
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+                        0.08088150029999999,
+                        0.2038844649
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+                "size": [
+                    0.5,
+                    0.2
+                ],
+                "pos": [
+                    "ref",
+                    -1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "syrup_bottle",
+                    "condiment"
+                ],
+                "groups": [
+                    "condiment_bottle",
+                    "ketchup",
+                    "syrup_bottle"
+                ],
+                "cat": "syrup_bottle",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/syrup_bottle/SyrupBottle007/model.xml"
+            },
+            "reset_region": {
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+                "offset": [
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+                    -3.469446951953614e-17,
+                    0.46
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+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "obj2",
+            "obj_groups": "shaker",
+            "graspable": true,
+            "placement": {
+                "fixture": "counter_left_group",
+                "sample_region_kwargs": {
+                    "ref": "cab_1_left_group",
+                    "min_size": [
+                        0.05153075309999998,
+                        0.045066413499999985,
+                        0.09499999999999997
+                    ]
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+                "size": [
+                    0.5,
+                    0.2
+                ],
+                "pos": [
+                    "ref",
+                    -1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "shaker",
+                    "condiment"
+                ],
+                "groups": [
+                    "shaker"
+                ],
+                "cat": "shaker",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/shaker/shaker_3/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.9999999999999991,
+                    0.65
+                ],
+                "offset": [
+                    -1.4000000000000004,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "cab_obj1",
+            "obj_groups": [
+                "condiment_bottle",
+                "ketchup",
+                "syrup_bottle"
+            ],
+            "graspable": true,
+            "placement": {
+                "fixture": "cab_1_left_group",
+                "size": [
+                    1.0,
+                    0.2
+                ],
+                "pos": [
+                    0,
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "condiment_bottle",
+                    "condiment"
+                ],
+                "groups": [
+                    "condiment_bottle",
+                    "ketchup",
+                    "syrup_bottle"
+                ],
+                "cat": "condiment_bottle",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/condiment/condiment_3/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    0.0,
+                    -0.43
+                ],
+                "size": [
+                    0.94,
+                    0.34
+                ],
+                "height": 0.2666666666666667,
+                "name": "level0"
+            }
+        },
+        {
+            "name": "cab_obj2",
+            "obj_groups": "shaker",
+            "graspable": true,
+            "placement": {
+                "fixture": "cab_1_left_group",
+                "size": [
+                    1.0,
+                    0.2
+                ],
+                "pos": [
+                    0,
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "shaker",
+                    "condiment"
+                ],
+                "groups": [
+                    "shaker"
+                ],
+                "cat": "shaker",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/shaker/shaker_3/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    0.0,
+                    -0.43
+                ],
+                "size": [
+                    0.94,
+                    0.34
+                ],
+                "height": 0.2666666666666667,
+                "name": "level0"
+            }
+        },
+        {
+            "name": "distr_counter1",
+            "obj_groups": "all",
+            "exclude_obj_groups": [
+                "condiment"
+            ],
+            "placement": {
+                "fixture": "counter_left_group",
+                "sample_region_kwargs": {
+                    "ref": "cab_1_left_group",
+                    "min_size": [
+                        0.07441579540999999,
+                        0.09210057614999999,
+                        0.058574616814999994
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.3
+                ],
+                "pos": [
+                    0.0,
+                    1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "cheese",
+                    "dairy",
+                    "food",
+                    "in_container",
+                    "food_set1"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "cheese",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cheese/cheese_7/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.9999999999999991,
+                    0.65
+                ],
+                "offset": [
+                    -1.4000000000000004,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "untensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_left_group": {
+            "cls": "Counter"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "OpenCabinet"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_4_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_left_group_2": {
+            "cls": "Drawer"
+        },
+        "flower_vase_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_left_group": {
+            "cls": "Accessory"
+        },
+        "paprika_left_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_left_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_left_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_left_group": {
+            "cls": "Accessory"
+        },
+        "digital_scale_left_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_left_group": {
+            "cls": "Accessory"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_right_main_group": {
+            "cls": "Counter"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Put the shaker and condiment bottle from the counter next to their counterparts in the cabinet.",
+    "fixture_refs": {
+        "cab": "cab_1_left_group",
+        "counter": "counter_left_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        0.8455702567454525,
+        -4.114660794923542,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415963267948968
+    ]
+}

target/composite/CategorizeCondiments/20250814/lerobot/extras/episode_000351/ep_meta.json

@@ -0,0 +1,506 @@
+{
+    "layout_id": 1,
+    "style_id": 1,
+    "object_cfgs": [
+        {
+            "name": "obj1",
+            "obj_groups": [
+                "condiment_bottle",
+                "ketchup",
+                "syrup_bottle"
+            ],
+            "graspable": true,
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "cab_1_main_group",
+                    "min_size": [
+                        0.07927886354922187,
+                        0.057431164499999986,
+                        0.15159726442819565
+                    ]
+                },
+                "size": [
+                    0.5,
+                    0.2
+                ],
+                "pos": [
+                    "ref",
+                    -1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "ketchup",
+                    "condiment"
+                ],
+                "groups": [
+                    "condiment_bottle",
+                    "ketchup",
+                    "syrup_bottle"
+                ],
+                "cat": "ketchup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/ketchup/ketchup_3/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.5,
+                    0.65
+                ],
+                "offset": [
+                    -1.0,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "obj2",
+            "obj_groups": "shaker",
+            "graspable": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "cab_1_main_group",
+                    "min_size": [
+                        0.04855696904999999,
+                        0.048556956699999994,
+                        0.09597072899999999
+                    ]
+                },
+                "size": [
+                    0.5,
+                    0.2
+                ],
+                "pos": [
+                    "ref",
+                    -1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "shaker",
+                    "condiment"
+                ],
+                "groups": [
+                    "shaker"
+                ],
+                "cat": "shaker",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/shaker/shaker_2/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.5,
+                    0.65
+                ],
+                "offset": [
+                    -1.0,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "cab_obj1",
+            "obj_groups": [
+                "condiment_bottle",
+                "ketchup",
+                "syrup_bottle"
+            ],
+            "graspable": true,
+            "placement": {
+                "fixture": "cab_1_main_group",
+                "size": [
+                    1.0,
+                    0.2
+                ],
+                "pos": [
+                    0,
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "condiment_bottle",
+                    "condiment"
+                ],
+                "groups": [
+                    "condiment_bottle",
+                    "ketchup",
+                    "syrup_bottle"
+                ],
+                "cat": "condiment_bottle",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/condiment/condiment_3/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    0.0,
+                    -0.43
+                ],
+                "size": [
+                    0.44,
+                    0.34
+                ],
+                "height": 0.2666666666666667,
+                "name": "level0"
+            }
+        },
+        {
+            "name": "cab_obj2",
+            "obj_groups": "shaker",
+            "graspable": true,
+            "placement": {
+                "fixture": "cab_1_main_group",
+                "size": [
+                    1.0,
+                    0.2
+                ],
+                "pos": [
+                    0,
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "shaker",
+                    "condiment"
+                ],
+                "groups": [
+                    "shaker"
+                ],
+                "cat": "shaker",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/shaker/shaker_2/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    0.0,
+                    -0.43
+                ],
+                "size": [
+                    0.44,
+                    0.34
+                ],
+                "height": 0.2666666666666667,
+                "name": "level0"
+            }
+        },
+        {
+            "name": "distr_counter1",
+            "obj_groups": "all",
+            "exclude_obj_groups": [
+                "condiment"
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "cab_1_main_group",
+                    "min_size": [
+                        0.08121465051400868,
+                        0.13139488800819277,
+                        0.09255412957687727
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.3
+                ],
+                "pos": [
+                    0.0,
+                    1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "steak",
+                    "meat",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "steak",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/steak/steak_6/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.5,
+                    0.65
+                ],
+                "offset": [
+                    -1.0,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "sink_main_group": {
+            "cls": "Sink"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_right_main_group": {
+            "cls": "Counter"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "cab_micro_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_4_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_main_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "digital_scale_main_group": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_3_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Put the shaker and condiment bottle from the counter next to their counterparts in the cabinet.",
+    "fixture_refs": {
+        "cab": "cab_1_main_group",
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        0.44664660177274884,
+        -0.8115770329104147,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}

target/composite/CategorizeCondiments/20250814/lerobot/extras/episode_000421/ep_meta.json

@@ -0,0 +1,677 @@
+{
+    "layout_id": 9,
+    "style_id": 9,
+    "object_cfgs": [
+        {
+            "name": "obj1",
+            "obj_groups": [
+                "condiment_bottle",
+                "ketchup",
+                "syrup_bottle"
+            ],
+            "graspable": true,
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_1_left_group",
+                "sample_region_kwargs": {
+                    "ref": "cab_1_left_group",
+                    "min_size": [
+                        0.043657640399999996,
+                        0.043649146199999996,
+                        0.16499742764999997
+                    ]
+                },
+                "size": [
+                    0.5,
+                    0.2
+                ],
+                "pos": [
+                    "ref",
+                    -1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "ketchup",
+                    "condiment"
+                ],
+                "groups": [
+                    "condiment_bottle",
+                    "ketchup",
+                    "syrup_bottle"
+                ],
+                "cat": "ketchup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/ketchup/ketchup_7/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.040746775018014,
+                    0.65
+                ],
+                "offset": [
+                    0.9796266124909931,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "obj2",
+            "obj_groups": "shaker",
+            "graspable": true,
+            "placement": {
+                "fixture": "counter_1_left_group",
+                "sample_region_kwargs": {
+                    "ref": "cab_1_left_group",
+                    "min_size": [
+                        0.05153075309999998,
+                        0.045066413499999985,
+                        0.09499999999999997
+                    ]
+                },
+                "size": [
+                    0.5,
+                    0.2
+                ],
+                "pos": [
+                    "ref",
+                    -1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "shaker",
+                    "condiment"
+                ],
+                "groups": [
+                    "shaker"
+                ],
+                "cat": "shaker",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/shaker/shaker_3/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.040746775018014,
+                    0.65
+                ],
+                "offset": [
+                    0.9796266124909931,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "cab_obj1",
+            "obj_groups": [
+                "condiment_bottle",
+                "ketchup",
+                "syrup_bottle"
+            ],
+            "graspable": true,
+            "placement": {
+                "fixture": "cab_1_left_group",
+                "size": [
+                    1.0,
+                    0.2
+                ],
+                "pos": [
+                    0,
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "condiment_bottle",
+                    "condiment"
+                ],
+                "groups": [
+                    "condiment_bottle",
+                    "ketchup",
+                    "syrup_bottle"
+                ],
+                "cat": "condiment_bottle",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/condiment/condiment_3/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    0.0,
+                    -0.43
+                ],
+                "size": [
+                    0.94,
+                    0.34
+                ],
+                "height": 0.2666666666666667,
+                "name": "level0"
+            }
+        },
+        {
+            "name": "cab_obj2",
+            "obj_groups": "shaker",
+            "graspable": true,
+            "placement": {
+                "fixture": "cab_1_left_group",
+                "size": [
+                    1.0,
+                    0.2
+                ],
+                "pos": [
+                    0,
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "shaker",
+                    "condiment"
+                ],
+                "groups": [
+                    "shaker"
+                ],
+                "cat": "shaker",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/shaker/shaker_2/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    0.0,
+                    -0.43
+                ],
+                "size": [
+                    0.94,
+                    0.34
+                ],
+                "height": 0.2666666666666667,
+                "name": "level0"
+            }
+        },
+        {
+            "name": "distr_counter1",
+            "obj_groups": "all",
+            "exclude_obj_groups": [
+                "condiment"
+            ],
+            "placement": {
+                "fixture": "counter_1_left_group",
+                "sample_region_kwargs": {
+                    "ref": "cab_1_left_group",
+                    "min_size": [
+                        0.126720890625,
+                        0.157473878125,
+                        0.1386791375
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.3
+                ],
+                "pos": [
+                    0.0,
+                    1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "teapot",
+                    "receptacle"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "teapot",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/teapot/teapot_4/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.040746775018014,
+                    0.65
+                ],
+                "offset": [
+                    0.9796266124909931,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_1_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_2_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "salt_shaker_front_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_front_group_auxiliary_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "plant_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_left_group": {
+            "cls": "Accessory"
+        },
+        "stack_left_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_right_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "cab_top_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_right_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "side_bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "side_bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_3": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Put the shaker and condiment bottle from the counter next to their counterparts in the cabinet.",
+    "fixture_refs": {
+        "cab": "cab_1_left_group",
+        "counter": "counter_1_left_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
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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": [
+        0.7974269234334133,
+        -1.5845166553979213,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1415963267948968
+    ]
+}

target/composite/CategorizeCondiments/20250814/lerobot/extras/episode_000437/ep_meta.json

@@ -0,0 +1,683 @@
+{
+    "layout_id": 10,
+    "style_id": 10,
+    "object_cfgs": [
+        {
+            "name": "obj1",
+            "obj_groups": [
+                "condiment_bottle",
+                "ketchup",
+                "syrup_bottle"
+            ],
+            "graspable": true,
+            "init_robot_here": true,
+            "placement": {
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+                "sample_region_kwargs": {
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+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "condiment_bottle",
+                    "condiment"
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+                "groups": [
+                    "condiment_bottle",
+                    "ketchup",
+                    "syrup_bottle"
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+                "cat": "condiment_bottle",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/condiment/condiment_3/model.xml"
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+            "name": "obj2",
+            "obj_groups": "shaker",
+            "graspable": true,
+            "placement": {
+                "fixture": "counter_1_right_group",
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+                    -1
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+            "type": "object",
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+                    "all",
+                    "shaker",
+                    "condiment"
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+                    "shaker"
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+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/shaker/shaker_3/model.xml"
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+        {
+            "name": "cab_obj1",
+            "obj_groups": [
+                "condiment_bottle",
+                "ketchup",
+                "syrup_bottle"
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+                    "syrup_bottle"
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+        },
+        {
+            "name": "cab_obj2",
+            "obj_groups": "shaker",
+            "graspable": true,
+            "placement": {
+                "fixture": "cab_2_right_group",
+                "size": [
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+                    "shaker",
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+                    "shaker"
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+                "cat": "shaker",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/shaker/shaker_3/model.xml"
+            },
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+        },
+        {
+            "name": "distr_counter1",
+            "obj_groups": "all",
+            "exclude_obj_groups": [
+                "condiment"
+            ],
+            "placement": {
+                "fixture": "counter_1_right_group",
+                "sample_region_kwargs": {
+                    "ref": "cab_2_right_group",
+                    "min_size": [
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+                    0.3
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+                "pos": [
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+                    1.0
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+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "boxed_food",
+                    "packaged_food"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "boxed_food",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/boxed_food/boxed_food_6/model.xml"
+            },
+            "reset_region": {
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+                "name": "geom_0"
+            }
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+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_room": {
+            "cls": "Wall"
+        },
+        "wall_front_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_2_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_front_room": {
+            "cls": "Floor"
+        },
+        "floor_front_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_corner_3_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "right_corner_box_main_group": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_4": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "plant_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "tiered_basket_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_left_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_left_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "box_left_top_left_group": {
+            "cls": "Box"
+        },
+        "box_left_bottom_left_group": {
+            "cls": "Box"
+        },
+        "box_right_top_left_group": {
+            "cls": "Box"
+        },
+        "box_right_bottom_left_group": {
+            "cls": "Box"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "SingleCabinet"
+        },
+        "soap_dispenser_right_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_2": {
+            "cls": "Drawer"
+        },
+        "shelves_front_group": {
+            "cls": "OpenCabinet"
+        },
+        "bottom_front_group_base": {
+            "cls": "Box"
+        },
+        "bottom_front_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_front_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_middle_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_front_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_front_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "utensil_set_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_dining_area_group": {
+            "cls": "Counter"
+        },
+        "paper_towel_dining_area_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_dining_area_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Put the shaker and condiment bottle from the counter next to their counterparts in the cabinet.",
+    "fixture_refs": {
+        "cab": "cab_2_right_group",
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+                0.35,
+                1.05
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+                -0.37678665,
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+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
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+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
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+                0.95
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+                -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
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+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        5.142248733624833,
+        -0.9959523555652338,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -3.673205103416066e-06
+    ]
+}

target/composite/CategorizeCondiments/20250814/lerobot/extras/episode_000447/ep_meta.json

@@ -0,0 +1,597 @@
+{
+    "layout_id": 4,
+    "style_id": 4,
+    "object_cfgs": [
+        {
+            "name": "obj1",
+            "obj_groups": [
+                "condiment_bottle",
+                "ketchup",
+                "syrup_bottle"
+            ],
+            "graspable": true,
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_1_right_main_group",
+                "sample_region_kwargs": {
+                    "ref": "shelves_main_group",
+                    "min_size": [
+                        0.0757679222,
+                        0.076187583,
+                        0.3185516278
+                    ]
+                },
+                "size": [
+                    0.5,
+                    0.2
+                ],
+                "pos": [
+                    "ref",
+                    -1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "syrup_bottle",
+                    "condiment"
+                ],
+                "groups": [
+                    "condiment_bottle",
+                    "ketchup",
+                    "syrup_bottle"
+                ],
+                "cat": "syrup_bottle",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/syrup_bottle/SyrupBottle006/model.xml"
+            },
+            "reset_region": {
+                "size": [
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+                    0.65
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+                "offset": [
+                    0.5,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "obj2",
+            "obj_groups": "shaker",
+            "graspable": true,
+            "placement": {
+                "fixture": "counter_1_right_main_group",
+                "sample_region_kwargs": {
+                    "ref": "shelves_main_group",
+                    "min_size": [
+                        0.05153075309999998,
+                        0.045066413499999985,
+                        0.09499999999999997
+                    ]
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+                "size": [
+                    0.5,
+                    0.2
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+                "pos": [
+                    "ref",
+                    -1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "shaker",
+                    "condiment"
+                ],
+                "groups": [
+                    "shaker"
+                ],
+                "cat": "shaker",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/shaker/shaker_3/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.0,
+                    0.65
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+                "offset": [
+                    0.5,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "cab_obj1",
+            "obj_groups": [
+                "condiment_bottle",
+                "ketchup",
+                "syrup_bottle"
+            ],
+            "graspable": true,
+            "placement": {
+                "fixture": "shelves_main_group",
+                "size": [
+                    1.0,
+                    0.2
+                ],
+                "pos": [
+                    0,
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "condiment_bottle",
+                    "condiment"
+                ],
+                "groups": [
+                    "condiment_bottle",
+                    "ketchup",
+                    "syrup_bottle"
+                ],
+                "cat": "condiment_bottle",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/condiment/condiment_3/model.xml"
+            },
+            "reset_region": {
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+                "size": [
+                    1.0,
+                    0.4
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+                "height": 0.41500000000000004,
+                "name": "level0"
+            }
+        },
+        {
+            "name": "cab_obj2",
+            "obj_groups": "shaker",
+            "graspable": true,
+            "placement": {
+                "fixture": "shelves_main_group",
+                "size": [
+                    1.0,
+                    0.2
+                ],
+                "pos": [
+                    0,
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "shaker",
+                    "condiment"
+                ],
+                "groups": [
+                    "shaker"
+                ],
+                "cat": "shaker",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/shaker/shaker_3/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    0.0,
+                    -0.43000000000000005
+                ],
+                "size": [
+                    1.0,
+                    0.4
+                ],
+                "height": 0.41500000000000004,
+                "name": "level0"
+            }
+        },
+        {
+            "name": "distr_counter1",
+            "obj_groups": "all",
+            "exclude_obj_groups": [
+                "condiment"
+            ],
+            "placement": {
+                "fixture": "counter_1_right_main_group",
+                "sample_region_kwargs": {
+                    "ref": "shelves_main_group",
+                    "min_size": [
+                        0.06538739199999997,
+                        0.10088199999999997,
+                        0.06305758599999997
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.3
+                ],
+                "pos": [
+                    0.0,
+                    1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "potato",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "food_set1",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "potato",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/potato/potato_5/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.0,
+                    0.65
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+                "offset": [
+                    0.5,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_right_main_group": {
+            "cls": "Counter"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "fridge_cab_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_left_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_left_group": {
+            "cls": "Box"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_left_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Put the shaker and condiment bottle from the counter next to their counterparts in the cabinet.",
+    "fixture_refs": {
+        "cab": "shelves_main_group",
+        "counter": "counter_1_right_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.1478149125916457,
+        -0.8187309227408193,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}

target/composite/CategorizeCondiments/20250814/lerobot/extras/episode_000485/ep_meta.json

@@ -0,0 +1,597 @@
+{
+    "layout_id": 4,
+    "style_id": 4,
+    "object_cfgs": [
+        {
+            "name": "obj1",
+            "obj_groups": [
+                "condiment_bottle",
+                "ketchup",
+                "syrup_bottle"
+            ],
+            "graspable": true,
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "cab_main_main_group",
+                    "min_size": [
+                        0.04485035099999999,
+                        0.04485035999999999,
+                        0.15135712649999997
+                    ]
+                },
+                "size": [
+                    0.5,
+                    0.2
+                ],
+                "pos": [
+                    "ref",
+                    -1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "ketchup",
+                    "condiment"
+                ],
+                "groups": [
+                    "condiment_bottle",
+                    "ketchup",
+                    "syrup_bottle"
+                ],
+                "cat": "ketchup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/ketchup/ketchup_8/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "obj2",
+            "obj_groups": "shaker",
+            "graspable": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "cab_main_main_group",
+                    "min_size": [
+                        0.05153075309999998,
+                        0.045066413499999985,
+                        0.09499999999999997
+                    ]
+                },
+                "size": [
+                    0.5,
+                    0.2
+                ],
+                "pos": [
+                    "ref",
+                    -1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "shaker",
+                    "condiment"
+                ],
+                "groups": [
+                    "shaker"
+                ],
+                "cat": "shaker",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/shaker/shaker_3/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.0,
+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "cab_obj1",
+            "obj_groups": [
+                "condiment_bottle",
+                "ketchup",
+                "syrup_bottle"
+            ],
+            "graspable": true,
+            "placement": {
+                "fixture": "cab_main_main_group",
+                "size": [
+                    1.0,
+                    0.2
+                ],
+                "pos": [
+                    0,
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "ketchup",
+                    "condiment"
+                ],
+                "groups": [
+                    "condiment_bottle",
+                    "ketchup",
+                    "syrup_bottle"
+                ],
+                "cat": "ketchup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/ketchup/ketchup_3/model.xml"
+            },
+            "reset_region": {
+                "offset": [
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+                "size": [
+                    0.94,
+                    0.34
+                ],
+                "height": 0.2666666666666667,
+                "name": "level0"
+            }
+        },
+        {
+            "name": "cab_obj2",
+            "obj_groups": "shaker",
+            "graspable": true,
+            "placement": {
+                "fixture": "cab_main_main_group",
+                "size": [
+                    1.0,
+                    0.2
+                ],
+                "pos": [
+                    0,
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "shaker",
+                    "condiment"
+                ],
+                "groups": [
+                    "shaker"
+                ],
+                "cat": "shaker",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/shaker/shaker_3/model.xml"
+            },
+            "reset_region": {
+                "offset": [
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+                    0.0,
+                    -0.43
+                ],
+                "size": [
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+                    0.34
+                ],
+                "height": 0.2666666666666667,
+                "name": "level0"
+            }
+        },
+        {
+            "name": "distr_counter1",
+            "obj_groups": "all",
+            "exclude_obj_groups": [
+                "condiment"
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "cab_main_main_group",
+                    "min_size": [
+                        0.061401104730000024,
+                        0.06426429318000003,
+                        0.07700332410000003
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.3
+                ],
+                "pos": [
+                    0.0,
+                    1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "apple",
+                    "fruit",
+                    "food",
+                    "in_container",
+                    "food_set1",
+                    "group1"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "apple",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/apple/apple_8/model.xml"
+            },
+            "reset_region": {
+                "size": [
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+                    0.65
+                ],
+                "offset": [
+                    0.0,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_right_main_group": {
+            "cls": "Counter"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "shelves_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "fridge_cab_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_main_group": {
+            "cls": "Accessory"
+        },
+        "glass_cup_2_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_2_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_3_left_group": {
+            "cls": "Box"
+        },
+        "cab_corner_4_left_group": {
+            "cls": "Box"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "bottom_left_group_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_left_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_left_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "tiered_basket_left_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "plant_island_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_island_group_auxiliary_island_group": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Put the shaker and condiment bottle from the counter next to their counterparts in the cabinet.",
+    "fixture_refs": {
+        "cab": "cab_main_main_group",
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        1.1641445831090096,
+        -0.8029683990469615,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}

target/composite/CategorizeCondiments/20250814/lerobot/extras/episode_000507/ep_meta.json

@@ -0,0 +1,678 @@
+{
+    "layout_id": 9,
+    "style_id": 9,
+    "object_cfgs": [
+        {
+            "name": "obj1",
+            "obj_groups": [
+                "condiment_bottle",
+                "ketchup",
+                "syrup_bottle"
+            ],
+            "graspable": true,
+            "init_robot_here": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "shelves_1_main_group",
+                    "min_size": [
+                        0.043657640399999996,
+                        0.043649146199999996,
+                        0.16499742764999997
+                    ]
+                },
+                "size": [
+                    0.5,
+                    0.2
+                ],
+                "pos": [
+                    "ref",
+                    -1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "ketchup",
+                    "condiment"
+                ],
+                "groups": [
+                    "condiment_bottle",
+                    "ketchup",
+                    "syrup_bottle"
+                ],
+                "cat": "ketchup",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/ketchup/ketchup_7/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.6000000000000005,
+                    0.65
+                ],
+                "offset": [
+                    1.1999999999999997,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "obj2",
+            "obj_groups": "shaker",
+            "graspable": true,
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "shelves_1_main_group",
+                    "min_size": [
+                        0.05153075309999998,
+                        0.045066413499999985,
+                        0.09499999999999997
+                    ]
+                },
+                "size": [
+                    0.5,
+                    0.2
+                ],
+                "pos": [
+                    "ref",
+                    -1
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "shaker",
+                    "condiment"
+                ],
+                "groups": [
+                    "shaker"
+                ],
+                "cat": "shaker",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/shaker/shaker_3/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.6000000000000005,
+                    0.65
+                ],
+                "offset": [
+                    1.1999999999999997,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        },
+        {
+            "name": "cab_obj1",
+            "obj_groups": [
+                "condiment_bottle",
+                "ketchup",
+                "syrup_bottle"
+            ],
+            "graspable": true,
+            "placement": {
+                "fixture": "shelves_1_main_group",
+                "size": [
+                    1.0,
+                    0.2
+                ],
+                "pos": [
+                    0,
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "condiment_bottle",
+                    "condiment"
+                ],
+                "groups": [
+                    "condiment_bottle",
+                    "ketchup",
+                    "syrup_bottle"
+                ],
+                "cat": "condiment_bottle",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/condiment/condiment_3/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    0.0,
+                    -0.43000000000000005
+                ],
+                "size": [
+                    0.5,
+                    0.4
+                ],
+                "height": 0.41500000000000004,
+                "name": "level0"
+            }
+        },
+        {
+            "name": "cab_obj2",
+            "obj_groups": "shaker",
+            "graspable": true,
+            "placement": {
+                "fixture": "shelves_1_main_group",
+                "size": [
+                    1.0,
+                    0.2
+                ],
+                "pos": [
+                    0,
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "shaker",
+                    "condiment"
+                ],
+                "groups": [
+                    "shaker"
+                ],
+                "cat": "shaker",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/shaker/shaker_3/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    0.0,
+                    0.0,
+                    -0.43000000000000005
+                ],
+                "size": [
+                    0.5,
+                    0.4
+                ],
+                "height": 0.41500000000000004,
+                "name": "level0"
+            }
+        },
+        {
+            "name": "distr_counter1",
+            "obj_groups": "all",
+            "exclude_obj_groups": [
+                "condiment"
+            ],
+            "placement": {
+                "fixture": "counter_main_main_group",
+                "sample_region_kwargs": {
+                    "ref": "shelves_1_main_group",
+                    "min_size": [
+                        0.45,
+                        0.08,
+                        0.08
+                    ]
+                },
+                "size": [
+                    1.0,
+                    0.3
+                ],
+                "pos": [
+                    0.0,
+                    1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "aluminum_foil",
+                    "tool",
+                    "in_container"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "aluminum_foil",
+                "split": "test",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/aluminum_foil/AluminumFoil006/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.6000000000000005,
+                    0.65
+                ],
+                "offset": [
+                    1.1999999999999997,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_room": {
+            "cls": "Wall"
+        },
+        "wall_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_room": {
+            "cls": "Wall"
+        },
+        "wall_left_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_room": {
+            "cls": "Wall"
+        },
+        "wall_right_backing_room": {
+            "cls": "Wall"
+        },
+        "outlet_room": {
+            "cls": "WallAccessory"
+        },
+        "utensil_rack_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_2_room": {
+            "cls": "WallAccessory"
+        },
+        "outlet_3_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "floor_room": {
+            "cls": "Floor"
+        },
+        "floor_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_main_main_group": {
+            "cls": "Counter"
+        },
+        "stovetop_main_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group": {
+            "cls": "Counter"
+        },
+        "cab_corner_main_group": {
+            "cls": "Box"
+        },
+        "cab_corner_2_main_group": {
+            "cls": "Box"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_main_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "shelves_1_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "shelves_2_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "utensil_set_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group": {
+            "cls": "Accessory"
+        },
+        "knife_block_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group": {
+            "cls": "Accessory"
+        },
+        "cinnamon_main_group": {
+            "cls": "Accessory"
+        },
+        "turmeric_main_group": {
+            "cls": "Accessory"
+        },
+        "paprika_main_group": {
+            "cls": "Accessory"
+        },
+        "oil_bottle_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "jar_main_group_auxiliary_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group": {
+            "cls": "Counter"
+        },
+        "salt_shaker_front_group": {
+            "cls": "Accessory"
+        },
+        "salt_shaker_front_group_auxiliary_front_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_left_group": {
+            "cls": "Counter"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "plant_left_group": {
+            "cls": "Accessory"
+        },
+        "soap_dispenser_left_group": {
+            "cls": "Accessory"
+        },
+        "fruit_bowl_left_group": {
+            "cls": "Accessory"
+        },
+        "stack_left_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_left_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_left_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "stack_right_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_right_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_right_right_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "cab_top_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_corner_right_group": {
+            "cls": "Box"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "oven_right_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "micro_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "side_bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "side_bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "side_bottom_right_group_3": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Put the shaker and condiment bottle from the counter next to their counterparts in the cabinet.",
+    "fixture_refs": {
+        "cab": "shelves_1_main_group",
+        "counter": "counter_main_main_group"
+    },
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.3644345467166006,
+        -0.8222259269716607,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}