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

@@ -0,0 +1,365 @@
+{
+    "layout_id": 41,
+    "style_id": 24,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "cheese",
+                "bread",
+                "cake"
+            ],
+            "graspable": true,
+            "placement": {
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+                    "all",
+                    "cake",
+                    "sweets",
+                    "food",
+                    "in_container"
+                ],
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+                    "cheese",
+                    "bread",
+                    "cake"
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+                "cat": "cake",
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+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cake/cake_1/model.xml"
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+            "cls": "Wall"
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+            "cls": "SingleCabinet"
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+        "singlecabinet_2_main_group_1": {
+            "cls": "SingleCabinet"
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+            "cls": "Box"
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+        "stack_1_main_group_1_1": {
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+            "cls": "Drawer"
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+            "cls": "HingeCabinet"
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+            "cls": "Box"
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+            "cls": "Drawer"
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+        "stack_4_island_group_2_base": {
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+            "cls": "SingleCabinet"
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+            "cls": "StandMixer"
+        },
+        "paper_towel_island_group_2": {
+            "cls": "Accessory"
+        }
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+    "lang": "Place the cake in the stand mixer bowl.",
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+}

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

@@ -0,0 +1,404 @@
+{
+    "layout_id": 19,
+    "style_id": 55,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "cheese",
+                "bread",
+                "cake"
+            ],
+            "graspable": true,
+            "placement": {
+                "fixture": "dining_dining_area_group",
+                "sample_region_kwargs": {
+                    "ref": "stand_mixer_dining_area_group",
+                    "loc": "left_right",
+                    "min_size": [
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+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "cheese",
+                    "bread",
+                    "cake"
+                ],
+                "cat": "bread",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_14/model.xml"
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+            }
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+    ],
+    "fixtures": {
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+            "cls": "Wall"
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+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
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+        "wall_main_1_backing_room": {
+            "cls": "Wall"
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+        "wall_main_3_room": {
+            "cls": "Wall"
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+        "wall_main_3_backing_room": {
+            "cls": "Wall"
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+        "wall_main_2_room": {
+            "cls": "Wall"
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+        "wall_main_2_backing_room": {
+            "cls": "Wall"
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+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
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+        "floor_1_room": {
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+        "floor_1_backing_room": {
+            "cls": "Floor"
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+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
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+        "wall_accessory_2_room": {
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+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
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+        "light_switch_1_room": {
+            "cls": "WallAccessory"
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+        "window_group_room": {
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+        "stack_1_left_group_1_1": {
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+        "stack_1_left_group_1_2": {
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+            "cls": "PanelCabinet"
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+            "cls": "HingeCabinet"
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+        "cab_3_left_group_1": {
+            "cls": "HingeCabinet"
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+        "bottom_left_group_1_base": {
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+            "cls": "Drawer"
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+            "cls": "HingeCabinet"
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+        "middle_2_left_group_1": {
+            "cls": "HingeCabinet"
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+            "cls": "HingeCabinet"
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+        "toaster_oven_left_group_1": {
+            "cls": "ToasterOven"
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+        "counter_1_right_group_1": {
+            "cls": "Counter"
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+            "cls": "Box"
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+        "stack_1_right_group_1_1": {
+            "cls": "SingleCabinet"
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+        "stack_1_right_group_1_2": {
+            "cls": "Drawer"
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+        "dishwasher_1_right_group_1": {
+            "cls": "Dishwasher"
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+            "cls": "Box"
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+            "cls": "HingeCabinet"
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+            "cls": "Drawer"
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+        "box_2_right_group_1": {
+            "cls": "Box"
+        },
+        "cab_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "paper_towel_right_group_1": {
+            "cls": "Accessory"
+        },
+        "counter_corner_1_main_group_3": {
+            "cls": "Counter"
+        },
+        "stove_main_group_3": {
+            "cls": "Stove"
+        },
+        "fridge_1_main_group_3": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "fridge_1_housing_main_group_3": {
+            "cls": "HousingCabinet"
+        },
+        "top_1_main_group_3": {
+            "cls": "HingeCabinet"
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+        "cab_1_main_group_3": {
+            "cls": "OpenCabinet"
+        },
+        "microwave_main_group_3": {
+            "cls": "Microwave"
+        },
+        "cab_micro_main_group_3": {
+            "cls": "HingeCabinet"
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+        "cab_corner_main_group_3": {
+            "cls": "Box"
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+        "dining_dining_area_group": {
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+            "cls": "Box"
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+        "stack_1_dining_area_group_base": {
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+        "stack_1_dining_area_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_dining_area_group_2": {
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+        "stack_2_dining_area_group_base": {
+            "cls": "Box"
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+        "stack_2_dining_area_group_1": {
+            "cls": "Drawer"
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+        "stack_2_dining_area_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_dining_area_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_dining_area_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_3_dining_area_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_dining_area_group_1": {
+            "cls": "Drawer"
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+        "stack_3_dining_area_group_2": {
+            "cls": "Drawer"
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+            "cls": "Drawer"
+        },
+        "stack_3_dining_area_group_4": {
+            "cls": "Drawer"
+        },
+        "stand_mixer_dining_area_group": {
+            "cls": "StandMixer"
+        }
+    },
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+    "lang": "Place the bread in the stand mixer bowl.",
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+}

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

@@ -0,0 +1,422 @@
+{
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+    "style_id": 42,
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+                "bread",
+                "cake"
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+                "fixture": "island_island_group_1",
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+                    "ref": "stand_mixer_island_group_1",
+                    "loc": "left_right",
+                    "min_size": [
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+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "cheese",
+                    "bread",
+                    "cake"
+                ],
+                "cat": "bread",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_11/model.xml"
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+                    0.46
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+            "cls": "Wall"
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+        "wall_left_1_backing_room": {
+            "cls": "Wall"
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+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
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+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3.001_room": {
+            "cls": "Wall"
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+            "cls": "Wall"
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+            "cls": "Floor"
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+            "cls": "Floor"
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+        "floor_2.001_backing_room": {
+            "cls": "Floor"
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+        "stool_2_room": {
+            "cls": "Stool"
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+        "stool_3_room": {
+            "cls": "Stool"
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+        "stool_4_room": {
+            "cls": "Stool"
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+        },
+        "hingecabinet_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_3_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_1_base": {
+            "cls": "Box"
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+        "stack_1_right_group_1_1": {
+            "cls": "HingeCabinet"
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+        "stack_1_right_group_1_2": {
+            "cls": "Drawer"
+        },
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+            "cls": "Box"
+        },
+        "stack_2_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_right_group_1_2": {
+            "cls": "Drawer"
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+        "stack_3_right_group_1_base": {
+            "cls": "Box"
+        },
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+        "stack_3_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "fridgefrenchdoor_right_group_1": {
+            "cls": "FridgeFrenchDoor"
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+        "fridgefrenchdoor_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_4_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "bottom_right_group_1_base": {
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+        },
+        "bottom_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "microwave_right_group_1": {
+            "cls": "Microwave"
+        },
+        "oven_cabinet_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_2_main_group_1": {
+            "cls": "Counter"
+        },
+        "widestove_main_group_1": {
+            "cls": "Stove"
+        },
+        "widestove_hood_main_group_1": {
+            "cls": "Hood"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group_1": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group_1": {
+            "cls": "ToasterOven"
+        },
+        "sink_island_group_1": {
+            "cls": "Sink"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_island_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_4_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_3_island_group_1": {
+            "cls": "Box"
+        },
+        "dishwasher_1_island_group_1": {
+            "cls": "Dishwasher"
+        },
+        "stand_mixer_island_group_1": {
+            "cls": "StandMixer"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the bread in the stand mixer bowl.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
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+                1.15
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+                0.35,
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+                -0.6775092
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+            },
+            "parent_body": "mobilebase0_support"
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+        "robot0_agentview_right": {
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+        "robot0_eye_in_hand": {
+            "pos": [
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+            "quat": [
+                0,
+                0.707107,
+                0.707107,
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+            "parent_body": "robot0_right_hand"
+        }
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+    "init_robot_base_pos": [
+        3.8065403206936885,
+        -1.8434781431338838,
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+        0.0,
+        0.0,
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+}

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

@@ -0,0 +1,317 @@
+{
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+    "style_id": 33,
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+            "obj_groups": [
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+                "bread",
+                "cake"
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+            "placement": {
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+                    "ref": "stand_mixer_right_group_1",
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+                    "ref",
+                    -1.0
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+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
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+                "groups": [
+                    "cheese",
+                    "bread",
+                    "cake"
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+                "cat": "bread",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_19/model.xml"
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+                    0.46
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+                "name": "geom_0"
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+    "fixtures": {
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+            "cls": "Wall"
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+        "wall_left_1_backing_room": {
+            "cls": "Wall"
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+        "wall_main_1_room": {
+            "cls": "Wall"
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+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
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+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "lightswitch_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.002_room": {
+            "cls": "WallAccessory"
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+        "wallaccessory.001_room": {
+            "cls": "WallAccessory"
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+        "wallaccessory.003_room": {
+            "cls": "WallAccessory"
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+        "window_group_room": {
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+        "singlecabinet_1_main_group_1": {
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+        "box_1_main_group_1": {
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+        "stack_1_main_group_1_1": {
+            "cls": "HingeCabinet"
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+        "stack_1_main_group_1_2": {
+            "cls": "Drawer"
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+        "stack_2_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1_1": {
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+        "cube_2_main_group_1": {
+            "cls": "Box"
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+        "coffeemachine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "papertowel_main_group_1": {
+            "cls": "Accessory"
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+        "sink_right_group_1": {
+            "cls": "Sink"
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+        "counter_1_right_group_1": {
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+        "stove_right_group_1": {
+            "cls": "Stove"
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+        "microwave_right_group_1": {
+            "cls": "Microwave"
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+        "micro_cab_right_group_1": {
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+        "singlecabinet_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_2_right_group_1": {
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+            "cls": "Box"
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+            "cls": "Box"
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+        "stack_1_right_group_1_1": {
+            "cls": "SingleCabinet"
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+            "cls": "Box"
+        },
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+            "cls": "Drawer"
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+        "stack_3_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_1_right_group_1": {
+            "cls": "Dishwasher"
+        },
+        "box_2_right_group_1": {
+            "cls": "Box"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "stand_mixer_right_group_1": {
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+        },
+        "fridgefrenchdoor_right_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_1_right_group_1": {
+            "cls": "HingeCabinet"
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+    "lang": "Place the bread in the stand mixer bowl.",
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+            },
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+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "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": [
+        2.909671981352746,
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+        0.0
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+    "init_robot_base_ori": [
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+        0.0,
+        0.00030199704781619374
+    ]
+}

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

@@ -0,0 +1,564 @@
+{
+    "layout_id": 39,
+    "style_id": 42,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "cheese",
+                "bread",
+                "cake"
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+            "placement": {
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+                "groups_containing_sampled_obj": [
+                    "all",
+                    "cheese",
+                    "dairy",
+                    "food",
+                    "in_container",
+                    "food_set1"
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+                "groups": [
+                    "cheese",
+                    "bread",
+                    "cake"
+                ],
+                "cat": "cheese",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cheese/cheese_4/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.8210641145849693,
+                    0.65
+                ],
+                "offset": [
+                    1.2660320572924844,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_5_room": {
+            "cls": "Wall"
+        },
+        "wall_front_5_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_5_room": {
+            "cls": "Wall"
+        },
+        "wall_right_5_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_4_room": {
+            "cls": "Wall"
+        },
+        "wall_front_4_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_4_room": {
+            "cls": "Wall"
+        },
+        "wall_right_4_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_3_room": {
+            "cls": "Wall"
+        },
+        "wall_front_3_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_2_room": {
+            "cls": "Wall"
+        },
+        "wall_front_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_6_room": {
+            "cls": "Wall"
+        },
+        "wall_front_6_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_7_room": {
+            "cls": "Wall"
+        },
+        "wall_front_7_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_3_room": {
+            "cls": "Floor"
+        },
+        "floor_3_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_5_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_6.001_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "sink_main_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "fridgefrenchdoor_main_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_4_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_3_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_1_main_group_1": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_7_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_7_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_7_main_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_1_main_group_1": {
+            "cls": "Dishwasher"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "knifeblock_main_group_1": {
+            "cls": "Accessory"
+        },
+        "papertowel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "stand_mixer_main_group_1": {
+            "cls": "StandMixer"
+        },
+        "stovetop_island_group_1": {
+            "cls": "Stovetop"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_island_group_2.001_base": {
+            "cls": "Box"
+        },
+        "stack_5_island_group_2.001_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_island_group_2.001_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_island_group_2.001_base": {
+            "cls": "Box"
+        },
+        "stack_6_island_group_2.001_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_island_group_2.001_2": {
+            "cls": "Drawer"
+        },
+        "stack_7_island_group_2.001_base": {
+            "cls": "Box"
+        },
+        "stack_7_island_group_2.001_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_7_island_group_2.001_2": {
+            "cls": "Drawer"
+        },
+        "stack_8_island_group_2.001_base": {
+            "cls": "Box"
+        },
+        "stack_8_island_group_2.001_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_8_island_group_2.001_2": {
+            "cls": "Drawer"
+        },
+        "counter_1_front_group_1": {
+            "cls": "Counter"
+        },
+        "hingecabinet_2_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_front_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_front_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_front_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_5_front_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_5_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_front_group_1_3": {
+            "cls": "Drawer"
+        },
+        "bottom_front_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_front_group_1_1": {
+            "cls": "Drawer"
+        },
+        "oven_front_group_1": {
+            "cls": "Oven"
+        },
+        "oven_housing_front_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_front_group_1": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_front_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "coffeemachine_front_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_oven_front_group_1": {
+            "cls": "ToasterOven"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the cheese in the stand mixer bowl.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        4.6323861239986615,
+        -0.8011459377942916,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}

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

@@ -0,0 +1,477 @@
+{
+    "layout_id": 49,
+    "style_id": 32,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "cheese",
+                "bread",
+                "cake"
+            ],
+            "graspable": true,
+            "placement": {
+                "fixture": "counter_3_front_group_1",
+                "sample_region_kwargs": {
+                    "ref": "stand_mixer_front_group_1",
+                    "loc": "left_right",
+                    "min_size": [
+                        0.07381952907999997,
+                        0.09196764158999997,
+                        0.04518113825499998
+                    ]
+                },
+                "size": [
+                    0.3,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "cheese",
+                    "dairy",
+                    "food",
+                    "in_container",
+                    "food_set1"
+                ],
+                "groups": [
+                    "cheese",
+                    "bread",
+                    "cake"
+                ],
+                "cat": "cheese",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cheese/cheese_0/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.6731869144283336,
+                    0.677222
+                ],
+                "offset": [
+                    1.1677185427858332,
+                    0.0,
+                    0.4600045
+                ],
+                "name": "geom_1"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_4_room": {
+            "cls": "Wall"
+        },
+        "wall_left_4_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_3_room": {
+            "cls": "Wall"
+        },
+        "wall_left_3_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_4_room": {
+            "cls": "Wall"
+        },
+        "wall_main_4_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_7_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_6_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_5_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_11_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "stool_4_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "hingecabinet_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_4_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "counter_corner_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_2_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_13_main_group_1": {
+            "cls": "Counter"
+        },
+        "stove_main_group_1": {
+            "cls": "Stove"
+        },
+        "microwave_main_group_1": {
+            "cls": "Microwave"
+        },
+        "micro_cab_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_01_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_01_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_01_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_02_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_02_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_02_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_03_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_03_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_03_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_03_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_04_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_04_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_main_group_1": {
+            "cls": "Box"
+        },
+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "papertowel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group_1": {
+            "cls": "ToasterOven"
+        },
+        "sink_right_group_1": {
+            "cls": "Sink"
+        },
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+            "cls": "Counter"
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+            "cls": "Box"
+        },
+        "stack_05_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_2_right_group_1": {
+            "cls": "Box"
+        },
+        "stack_07_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_07_right_group_1_1": {
+            "cls": "HingeCabinet"
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+        "stack_07_right_group_1_2": {
+            "cls": "PanelCabinet"
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+        "cube_1_right_group_1": {
+            "cls": "Box"
+        },
+        "dishwasher_1_right_group_1": {
+            "cls": "Dishwasher"
+        },
+        "fridgefrenchdoor_left_group_2": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_left_group_2": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_1_left_group_2": {
+            "cls": "HingeCabinet"
+        },
+        "counter_3_front_group_1": {
+            "cls": "Counter"
+        },
+        "counter_5_front_group_1": {
+            "cls": "Counter"
+        },
+        "stack_12_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_12_front_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_12_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_13_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_13_front_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_13_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_13_front_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_14_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_14_front_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_14_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_15_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_15_front_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_15_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_11_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_11_front_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_11_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_4_front_group_1": {
+            "cls": "Box"
+        },
+        "cube_11_front_group_1": {
+            "cls": "Box"
+        },
+        "cube_5_front_group_1": {
+            "cls": "Box"
+        },
+        "stand_mixer_front_group_1": {
+            "cls": "StandMixer"
+        },
+        "dining_dining_area_group": {
+            "cls": "Counter"
+        },
+        "stack_10_dining_area_group_base": {
+            "cls": "Box"
+        },
+        "stack_10_dining_area_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_10_dining_area_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_09_dining_area_group_base": {
+            "cls": "Box"
+        },
+        "stack_09_dining_area_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_09_dining_area_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_08_dining_area_group_base": {
+            "cls": "Box"
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+        "stack_08_dining_area_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_08_dining_area_group_2": {
+            "cls": "Drawer"
+        },
+        "cube_2_dining_area_group": {
+            "cls": "Box"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the cheese in the stand mixer bowl.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
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+                1.15
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+            "parent_body": "mobilebase0_support"
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+        "robot0_eye_in_hand": {
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+            "quat": [
+                0,
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+                0
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+            "parent_body": "robot0_right_hand"
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+    },
+    "init_robot_base_pos": [
+        1.3993877833750148,
+        -4.699858578146895,
+        0.0
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+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        4.712237632784059
+    ]
+}

pretrain/atomic/PickPlaceCounterToStandMixer/20250820/lerobot/extras/episode_000020/ep_meta.json

@@ -0,0 +1,392 @@
+{
+    "layout_id": 60,
+    "style_id": 33,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "cheese",
+                "bread",
+                "cake"
+            ],
+            "graspable": true,
+            "placement": {
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+                    "loc": "left_right",
+                    "min_size": [
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+                    -1.0
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+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "cheese",
+                    "bread",
+                    "cake"
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+                "cat": "bread",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_0/model.xml"
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+    "fixtures": {
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+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
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+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_room": {
+            "cls": "Wall"
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+        "wall_right_2_backing_room": {
+            "cls": "Wall"
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+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
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+        "floor_1_backing_room": {
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+        "lightswitch_01_room": {
+            "cls": "WallAccessory"
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+        "wallaccessory_04_room": {
+            "cls": "WallAccessory"
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+        "wallaccessory_12_room": {
+            "cls": "WallAccessory"
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+            "cls": "Stove"
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+        "microwave_main_group_1": {
+            "cls": "Microwave"
+        },
+        "micro_cab_main_group_1": {
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+        "hingecabinet_01_main_group_1": {
+            "cls": "HingeCabinet"
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+            "cls": "Box"
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+            "cls": "SingleCabinet"
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+            "cls": "Box"
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+        "cube_12_main_group_1": {
+            "cls": "Box"
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+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "plant_main_group_1": {
+            "cls": "Accessory"
+        },
+        "fridgebottomfreezer_right_group_1": {
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+        },
+        "fridgebottomfreezer_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_05_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "counter_6_right_group_1": {
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+        "hingecabinet_04_right_group_1": {
+            "cls": "HingeCabinet"
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+        "hingecabinet_06_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_7_right_group_1_base": {
+            "cls": "Box"
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+        "stack_7_right_group_1_1": {
+            "cls": "HingeCabinet"
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+            "cls": "Drawer"
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+        "cube_13_right_group_1": {
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+        "toaster_oven_right_group_1": {
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+            "cls": "Sink"
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+            "cls": "Box"
+        },
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+            "cls": "Drawer"
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+        "stack_4_left_group_1_base": {
+            "cls": "Box"
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+            "cls": "HingeCabinet"
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+        "stack_2_left_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_1_base": {
+            "cls": "Box"
+        },
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+            "cls": "Drawer"
+        },
+        "stack_3_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_4_left_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_left_group_1": {
+            "cls": "Box"
+        },
+        "dishwasher_1_left_group_1": {
+            "cls": "Dishwasher"
+        },
+        "toaster_left_group_1": {
+            "cls": "Toaster"
+        },
+        "stand_mixer_left_group_1": {
+            "cls": "StandMixer"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the bread in the stand mixer bowl.",
+    "fixture_refs": {},
+    "cam_configs": {
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+        "robot0_eye_in_hand": {
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+}

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

@@ -0,0 +1,387 @@
+{
+    "layout_id": 38,
+    "style_id": 38,
+    "object_cfgs": [
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+            "obj_groups": [
+                "cheese",
+                "bread",
+                "cake"
+            ],
+            "graspable": true,
+            "placement": {
+                "fixture": "island_island_group_1",
+                "sample_region_kwargs": {
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+                    "loc": "left_right",
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+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
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+                    "cheese",
+                    "dairy",
+                    "food",
+                    "in_container",
+                    "food_set1"
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+                    "bread",
+                    "cake"
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+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cheese/cheese_3/model.xml"
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+        "wall_main_1_backing_room": {
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+        "wall_left_1_room": {
+            "cls": "Wall"
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+            "cls": "Wall"
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+        "wall_left_2_room": {
+            "cls": "Wall"
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+            "cls": "Wall"
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+            "cls": "Wall"
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+        "wall_left_3_backing_room": {
+            "cls": "Wall"
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+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
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+            "cls": "WallAccessory"
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+            "cls": "WallAccessory"
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+        "stack_4_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "dishwasher_1_main_group_1": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "coffeemachine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "bottom_main_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "oven_cabinet_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_main_group_1": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "counter_1_left_group_1": {
+            "cls": "Counter"
+        },
+        "stove_left_group_1": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group_1": {
+            "cls": "Counter"
+        },
+        "fridgesidebyside_left_group_1": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridgesidebyside_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_4_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "knifeblock_left_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_left_group_1": {
+            "cls": "ToasterOven"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "cube_3_island_group_1": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_island_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_2_island_group_1": {
+            "cls": "Box"
+        },
+        "stand_mixer_island_group_1": {
+            "cls": "StandMixer"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the cheese in the stand mixer bowl.",
+    "fixture_refs": {},
+    "cam_configs": {
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+                -0.6,
+                0.0,
+                1.15
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+                -0.6175596117973328
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+                -0.5,
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+                1.05
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+                0.29935253,
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+            "parent_body": "mobilebase0_support"
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+        },
+        "robot0_frontview": {
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+                0.95
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+            "camera_attribs": {
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+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
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+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
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+    },
+    "init_robot_base_pos": [
+        2.173198294530314,
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+        0.0
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+        0.0,
+        0.0,
+        -4.7153339388650295e-07
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+}

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

@@ -0,0 +1,365 @@
+{
+    "layout_id": 41,
+    "style_id": 12,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "cheese",
+                "bread",
+                "cake"
+            ],
+            "graspable": true,
+            "placement": {
+                "fixture": "island_island_group_2",
+                "sample_region_kwargs": {
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+                    "loc": "left_right",
+                    "min_size": [
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+                        0.07979124959999995,
+                        0.056484244799999965
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+                    0.3
+                ],
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+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "cake",
+                    "sweets",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "cheese",
+                    "bread",
+                    "cake"
+                ],
+                "cat": "cake",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cake/cake_1/model.xml"
+            },
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+                    1.299989
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+                    0.0,
+                    0.46
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+                "name": "geom_0"
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+        }
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+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "lightswitch_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.003_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.001_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
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+        "stool_1_room": {
+            "cls": "Stool"
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+        "stool_2_room": {
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+        "counter_1_main_group_1": {
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+            "cls": "SingleCabinet"
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+            "cls": "SingleCabinet"
+        },
+        "stack_1_main_group_1_base": {
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+        "stack_1_main_group_1_1": {
+            "cls": "HingeCabinet"
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+        "stack_1_main_group_1_2": {
+            "cls": "Drawer"
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+            "cls": "Box"
+        },
+        "stack_2_main_group_1_1": {
+            "cls": "HingeCabinet"
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+        "stack_2_main_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "cube_1_main_group_1": {
+            "cls": "Box"
+        },
+        "dishwasher_1_main_group_1": {
+            "cls": "Dishwasher"
+        },
+        "bottom_main_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "microwave_main_group_1": {
+            "cls": "Microwave"
+        },
+        "fridgesidebyside_main_group_1": {
+            "cls": "FridgeSideBySide"
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+        "fridgesidebyside_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "oven_cabinet_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "knife_block_main_group_1": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "counter_2_right_group_1": {
+            "cls": "Counter"
+        },
+        "stove_right_group_1": {
+            "cls": "Stove"
+        },
+        "stove_hood_right_group_1": {
+            "cls": "Hood"
+        },
+        "singlecabinet_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
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+            "cls": "Box"
+        },
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+            "cls": "HingeCabinet"
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+        "stack_1_island_group_1_2": {
+            "cls": "Drawer"
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+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
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+        },
+        "stack_3_island_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "island_island_group_2": {
+            "cls": "Counter"
+        },
+        "stack_4_island_group_2_base": {
+            "cls": "Box"
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+        "stack_4_island_group_2_1": {
+            "cls": "SingleCabinet"
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+        "stack_5_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_5_island_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stand_mixer_island_group_2": {
+            "cls": "StandMixer"
+        },
+        "paper_towel_island_group_2": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the cake in the stand mixer bowl.",
+    "fixture_refs": {},
+    "cam_configs": {
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+        "robot0_agentview_left": {
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+                -0.37678665,
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+}

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

@@ -0,0 +1,425 @@
+{
+    "layout_id": 50,
+    "style_id": 17,
+    "object_cfgs": [
+        {
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+            "obj_groups": [
+                "cheese",
+                "bread",
+                "cake"
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+                    "loc": "left_right",
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+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "cheese",
+                    "bread",
+                    "cake"
+                ],
+                "cat": "bread",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_20/model.xml"
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+            "cls": "Wall"
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+        "wall_main_1_backing_room": {
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+        "wall_right_1_room": {
+            "cls": "Wall"
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+        "wall_right_1_backing_room": {
+            "cls": "Wall"
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+        "wall_left_1_room": {
+            "cls": "Wall"
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+        "wall_left_1_backing_room": {
+            "cls": "Wall"
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+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
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+        "wall_left_2_room": {
+            "cls": "Wall"
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+        "wall_left_2_backing_room": {
+            "cls": "Wall"
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+        "wall_main_3_room": {
+            "cls": "Wall"
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+        "wall_main_3_backing_room": {
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+            "cls": "Wall"
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+        "wall_main_3.001_backing_room": {
+            "cls": "Wall"
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+        "floor_1_room": {
+            "cls": "Floor"
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+        "floor_1_backing_room": {
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+        "floor_2_room": {
+            "cls": "Floor"
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+        "floor_2_backing_room": {
+            "cls": "Floor"
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+        },
+        "stack_10_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_10_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_07_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_08_island_group_1": {
+            "cls": "Box"
+        },
+        "stand_mixer_island_group_1": {
+            "cls": "StandMixer"
+        },
+        "plant_island_group_1": {
+            "cls": "Accessory"
+        },
+        "hingecabinet_5_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "counter_2_left_group_1": {
+            "cls": "Counter"
+        },
+        "stack_13_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_13_left_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_13_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_12_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_12_left_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_12_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "fridgefrenchdoor_left_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "bottom_left_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "microwave_left_group_1": {
+            "cls": "Microwave"
+        },
+        "oven_cabinet_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_4_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_oven_left_group_1": {
+            "cls": "ToasterOven"
+        },
+        "hingecabinet_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_3_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "counter_4_right_group_1": {
+            "cls": "Counter"
+        },
+        "counter_3_right_group_1": {
+            "cls": "Counter"
+        },
+        "stove_right_group_1": {
+            "cls": "Stove"
+        },
+        "stove_hood_right_group_1": {
+            "cls": "Hood"
+        },
+        "stack_06_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_06_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_06_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_04_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_04_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_04_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_05_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_05_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_05_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_05_right_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_07_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_07_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_07_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_02_right_group_1": {
+            "cls": "Box"
+        },
+        "cube_11_right_group_1": {
+            "cls": "Box"
+        },
+        "coffee_machine_right_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the bread in the stand mixer bowl.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
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+                -0.6175596117973328
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+        "robot0_agentview_left": {
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+                1.05
+            ],
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+                0.29935253,
+                -0.37678665,
+                -0.6775092
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
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+                1.05
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+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
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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": [
+        4.015812235193933,
+        -3.0172582940897863,
+        0.0
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+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1414199932886993
+    ]
+}

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

@@ -0,0 +1,317 @@
+{
+    "layout_id": 40,
+    "style_id": 53,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "cheese",
+                "bread",
+                "cake"
+            ],
+            "graspable": true,
+            "placement": {
+                "fixture": "counter_1_right_group_1",
+                "sample_region_kwargs": {
+                    "ref": "stand_mixer_right_group_1",
+                    "loc": "left_right",
+                    "min_size": [
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+                    "ref",
+                    -1.0
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+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "cake",
+                    "sweets",
+                    "food",
+                    "in_container"
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+                "groups": [
+                    "cheese",
+                    "bread",
+                    "cake"
+                ],
+                "cat": "cake",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cake/cake_1/model.xml"
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+                    0.46
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+    "fixtures": {
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+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "lightswitch_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.002_room": {
+            "cls": "WallAccessory"
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+        "wallaccessory.001_room": {
+            "cls": "WallAccessory"
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+        "wallaccessory.003_room": {
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+        "window_group_room": {
+            "cls": "Window"
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+            "cls": "Box"
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+        "stack_1_main_group_1_1": {
+            "cls": "HingeCabinet"
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+        "stack_1_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_1_base": {
+            "cls": "Box"
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+        "stack_2_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_2_main_group_1": {
+            "cls": "Box"
+        },
+        "coffeemachine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "papertowel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "sink_right_group_1": {
+            "cls": "Sink"
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+        "counter_1_right_group_1": {
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+        },
+        "stove_right_group_1": {
+            "cls": "Stove"
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+        "microwave_right_group_1": {
+            "cls": "Microwave"
+        },
+        "micro_cab_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "box_1_right_group_1": {
+            "cls": "Box"
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+        "stack_1_right_group_1_base": {
+            "cls": "Box"
+        },
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+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_1_base": {
+            "cls": "Box"
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+        "stack_2_right_group_1_1": {
+            "cls": "SingleCabinet"
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+        "stack_2_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_1_right_group_1": {
+            "cls": "Dishwasher"
+        },
+        "box_2_right_group_1": {
+            "cls": "Box"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "stand_mixer_right_group_1": {
+            "cls": "StandMixer"
+        },
+        "fridgefrenchdoor_right_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_1_right_group_1": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the cake in the stand mixer bowl.",
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+            "parent_body": "mobilebase0_support"
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+            "parent_body": "mobilebase0_support"
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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,
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+            "parent_body": "robot0_right_hand"
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+    },
+    "init_robot_base_pos": [
+        2.917083907416121,
+        -2.8469084416868693,
+        0.0
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+    "init_robot_base_ori": [
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+        0.0,
+        0.00030199704781619374
+    ]
+}

pretrain/atomic/PickPlaceCounterToStandMixer/20250820/lerobot/extras/episode_000030/ep_meta.json

@@ -0,0 +1,386 @@
+{
+    "layout_id": 38,
+    "style_id": 51,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "cheese",
+                "bread",
+                "cake"
+            ],
+            "graspable": true,
+            "placement": {
+                "fixture": "island_island_group_1",
+                "sample_region_kwargs": {
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+                    "loc": "left_right",
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+                    -1.0
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+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "cheese",
+                    "bread",
+                    "cake"
+                ],
+                "cat": "bread",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_2/model.xml"
+            },
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+                    0.46
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+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
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+        "wall_left_1_room": {
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+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_3_room": {
+            "cls": "Wall"
+        },
+        "wall_left_3_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory.001_room": {
+            "cls": "WallAccessory"
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+        "wallaccessory.005_room": {
+            "cls": "WallAccessory"
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+        "wallaccessory.003_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.004_room": {
+            "cls": "WallAccessory"
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+        "wallaccessory.007_room": {
+            "cls": "WallAccessory"
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+            "cls": "Stool"
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+        "stool_4_room": {
+            "cls": "Stool"
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+        "stool_1_room": {
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+            "cls": "Counter"
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+        "opencabinet_1_main_group_1": {
+            "cls": "OpenCabinet"
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+        "opencabinet_2_main_group_1": {
+            "cls": "OpenCabinet"
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+        "stack_1_main_group_1_1": {
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+            "cls": "Box"
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+        "stack_4_main_group_1_1": {
+            "cls": "HingeCabinet"
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+        "stack_4_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "dishwasher_1_main_group_1": {
+            "cls": "Dishwasher"
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+        "stack_3_main_group_1_base": {
+            "cls": "Box"
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+        "stack_3_main_group_1_1": {
+            "cls": "HingeCabinet"
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+        "coffeemachine_main_group_1": {
+            "cls": "CoffeeMachine"
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+            "cls": "Accessory"
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+        "toaster_main_group_1": {
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+            "cls": "Box"
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+            "cls": "Drawer"
+        },
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+            "cls": "HingeCabinet"
+        },
+        "microwave_main_group_1": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_main_group_1": {
+            "cls": "HousingCabinet"
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+        "top_main_group_1": {
+            "cls": "HingeCabinet"
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+        "counter_1_left_group_1": {
+            "cls": "Counter"
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+        "stove_left_group_1": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group_1": {
+            "cls": "Counter"
+        },
+        "fridgesidebyside_left_group_1": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridgesidebyside_housing_left_group_1": {
+            "cls": "HousingCabinet"
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+        "hingecabinet_1_left_group_1": {
+            "cls": "HingeCabinet"
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+        "hingecabinet_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_4_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_1_base": {
+            "cls": "Box"
+        },
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+            "cls": "HingeCabinet"
+        },
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+            "cls": "HingeCabinet"
+        },
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+            "cls": "Accessory"
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+        "toaster_oven_left_group_1": {
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+        },
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+            "cls": "Box"
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+        "stack_1_island_group_1_1": {
+            "cls": "SingleCabinet"
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+        "stack_2_island_group_1_base": {
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+        "stack_2_island_group_1_2": {
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+            "cls": "Box"
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+            "cls": "Drawer"
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+        "stack_4_island_group_1_base": {
+            "cls": "Box"
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+        "stack_4_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_2_island_group_1": {
+            "cls": "Box"
+        },
+        "stand_mixer_island_group_1": {
+            "cls": "StandMixer"
+        }
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+    "gen_textures": {},
+    "lang": "Place the bread in the stand mixer bowl.",
+    "fixture_refs": {},
+    "cam_configs": {
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+            "parent_body": "mobilebase0_support"
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+        "robot0_agentview_right": {
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+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
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+            "parent_body": "robot0_right_hand"
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+        2.1449634058830243,
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+        0.0,
+        -4.7153339388650295e-07
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+}

pretrain/atomic/PickPlaceCounterToStandMixer/20250820/lerobot/extras/episode_000031/ep_meta.json

@@ -0,0 +1,422 @@
+{
+    "layout_id": 33,
+    "style_id": 38,
+    "object_cfgs": [
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+            "obj_groups": [
+                "cheese",
+                "bread",
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+            "placement": {
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+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "cheese",
+                    "bread",
+                    "cake"
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+                "cat": "bread",
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+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_0/model.xml"
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+                    0.46
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+            "cls": "Wall"
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+        "wall_main_1_backing_room": {
+            "cls": "Wall"
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+            "cls": "Wall"
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+        "wall_right_1_room": {
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+        "wall_right_1_backing_room": {
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+        "wall_main_2_room": {
+            "cls": "Wall"
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+        "wall_main_2_backing_room": {
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+            "cls": "Wall"
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+        "floor_2.001_room": {
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+        "floor_2.001_backing_room": {
+            "cls": "Floor"
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+            "cls": "Microwave"
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+            "cls": "CoffeeMachine"
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+        "toaster_right_group_1": {
+            "cls": "Toaster"
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+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
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+        "hingecabinet_2_main_group_1": {
+            "cls": "HingeCabinet"
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+        "singlecabinet_1_main_group_1": {
+            "cls": "SingleCabinet"
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+        "singlecabinet_2_main_group_1": {
+            "cls": "SingleCabinet"
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+        "counter_1_main_group_1": {
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+        "counter_2_main_group_1": {
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+        },
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+        "widestove_hood_main_group_1": {
+            "cls": "Hood"
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+        "stack_2_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_1_base": {
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+        "stack_3_main_group_1_1": {
+            "cls": "Drawer"
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+        "stack_3_main_group_1_2": {
+            "cls": "Drawer"
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+        "stack_3_main_group_1_3": {
+            "cls": "Drawer"
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+        "paper_towel_main_group_1": {
+            "cls": "Accessory"
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+        "toaster_oven_main_group_1": {
+            "cls": "ToasterOven"
+        },
+        "sink_island_group_1": {
+            "cls": "Sink"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_island_group_1_2": {
+            "cls": "PanelCabinet"
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+        "stack_4_island_group_1_1": {
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+            "cls": "Drawer"
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+            "cls": "Box"
+        },
+        "cube_2_island_group_1": {
+            "cls": "Box"
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+            "cls": "Box"
+        },
+        "dishwasher_1_island_group_1": {
+            "cls": "Dishwasher"
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+        "stand_mixer_island_group_1": {
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+}

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

@@ -0,0 +1,429 @@
+{
+    "layout_id": 51,
+    "style_id": 43,
+    "object_cfgs": [
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+            "name": "obj",
+            "obj_groups": [
+                "cheese",
+                "bread",
+                "cake"
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+            "placement": {
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+                    "ref",
+                    -1.0
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+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "cheese",
+                    "dairy",
+                    "food",
+                    "in_container",
+                    "food_set1"
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+                "groups": [
+                    "cheese",
+                    "bread",
+                    "cake"
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+                "cat": "cheese",
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+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cheese/cheese_3/model.xml"
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+        "wall_right_2_backing_room": {
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+            "cls": "Wall"
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+        "wall_right_1_backing_room": {
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+            "cls": "HingeCabinet"
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+            "cls": "Box"
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+        "stack_01_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_02_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_02_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_02_main_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_03_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_03_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_03_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_04_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_04_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_04_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_05_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_05_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_05_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_06_main_group_1_base": {
+            "cls": "Box"
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+        "stack_06_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_06_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_06_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "cube_1_main_group_1": {
+            "cls": "Box"
+        },
+        "dishwasher_1_main_group_1": {
+            "cls": "Dishwasher"
+        },
+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "papertowel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "plant_main_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "fridgefrenchdoor_main_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_3_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "counter_4_right_group_1": {
+            "cls": "Counter"
+        },
+        "counter_5_right_group_1": {
+            "cls": "Counter"
+        },
+        "stack_07_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_07_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_08_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_08_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_08_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_1_right_group_1": {
+            "cls": "Box"
+        },
+        "toaster_oven_right_group_1": {
+            "cls": "ToasterOven"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
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+        "stack_09_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_09_island_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_09_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_09_island_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_11_island_group_1_base": {
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+        },
+        "stack_11_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_11_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_10_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_10_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_10_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
+        },
+        "stand_mixer_island_group_1": {
+            "cls": "StandMixer"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the cheese in the stand mixer bowl.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
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+                1.15
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+        "robot0_agentview_right": {
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+        "robot0_eye_in_hand": {
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+            "quat": [
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+                0.707107,
+                0
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+            "parent_body": "robot0_right_hand"
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+    "init_robot_base_pos": [
+        3.23278830329937,
+        -2.871903800099018,
+        0.0
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+    "init_robot_base_ori": [
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+        0.0,
+        4.712205636499415
+    ]
+}

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

@@ -0,0 +1,404 @@
+{
+    "layout_id": 57,
+    "style_id": 24,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "cheese",
+                "bread",
+                "cake"
+            ],
+            "graspable": true,
+            "placement": {
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+                    "loc": "left_right",
+                    "min_size": [
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+                        0.10000841545
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+                    -1.0
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+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
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+                "groups": [
+                    "cheese",
+                    "bread",
+                    "cake"
+                ],
+                "cat": "bread",
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+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_20/model.xml"
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+                    0.46
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+                "name": "geom_1"
+            }
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+            "cls": "Wall"
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+        "wall_right_1_backing_room": {
+            "cls": "Wall"
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+            "cls": "Wall"
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+        "wall_main_1_backing_room": {
+            "cls": "Wall"
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+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_01_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
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+        "stool_1_room": {
+            "cls": "Stool"
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+            "cls": "HingeCabinet"
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+        "hingecabinet_3_main_group_1": {
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+            "cls": "HingeCabinet"
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+        "microwave_main_group_1": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_main_group_1": {
+            "cls": "HousingCabinet"
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+        "top_main_group_1": {
+            "cls": "HingeCabinet"
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+        "hingecabinet_5_left_group_1": {
+            "cls": "HingeCabinet"
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+            "cls": "SingleCabinet"
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+        "counter_corner_1_left_group_1": {
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+        "counter_2_left_group_1": {
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+            "cls": "SingleCabinet"
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+            "cls": "Box"
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+        "stack_05_left_group_1_1": {
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+        "stack_05_left_group_1_2": {
+            "cls": "Drawer"
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+            "cls": "Drawer"
+        },
+        "cube_10_left_group_1": {
+            "cls": "Box"
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+        "cube_11_left_group_1": {
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+        },
+        "coffee_machine_left_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_left_group_1": {
+            "cls": "Accessory"
+        },
+        "island_1_island_group_1": {
+            "cls": "Counter"
+        },
+        "island_2_island_group_1": {
+            "cls": "Counter"
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+        "island_3_island_group_1": {
+            "cls": "Counter"
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+        "stove_island_group_1": {
+            "cls": "Stove"
+        },
+        "stove_hood_island_group_1": {
+            "cls": "Hood"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_island_group_1": {
+            "cls": "Box"
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+        "stack_07_island_group_1_base": {
+            "cls": "Box"
+        },
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+            "cls": "SingleCabinet"
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+            "cls": "Box"
+        },
+        "stack_06_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
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+            "cls": "Drawer"
+        },
+        "stand_mixer_island_group_1": {
+            "cls": "StandMixer"
+        },
+        "stack_09_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_09_island_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_09_island_group_2_2": {
+            "cls": "Drawer"
+        },
+        "stack_08_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_08_island_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_08_island_group_2_2": {
+            "cls": "Drawer"
+        },
+        "stack_10_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_10_island_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_10_island_group_2_2": {
+            "cls": "Drawer"
+        },
+        "stack_11_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_11_island_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_11_island_group_2_2": {
+            "cls": "Drawer"
+        },
+        "cube_5_island_group_2": {
+            "cls": "Box"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the bread in the stand mixer bowl.",
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+        "robot0_eye_in_hand": {
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+    "init_robot_base_pos": [
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+}

pretrain/atomic/PickPlaceCounterToStandMixer/20250820/lerobot/extras/episode_000036/ep_meta.json

@@ -0,0 +1,404 @@
+{
+    "layout_id": 48,
+    "style_id": 60,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "cheese",
+                "bread",
+                "cake"
+            ],
+            "graspable": true,
+            "placement": {
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+                    -1.0
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+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "cake",
+                    "sweets",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "cheese",
+                    "bread",
+                    "cake"
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+                "cat": "cake",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cake/cake_0/model.xml"
+            },
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+            "cls": "Wall"
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+        "wall_main_1_backing_room": {
+            "cls": "Wall"
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+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "lightswitch_5_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_6_room": {
+            "cls": "WallAccessory"
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+        "wallaccessory_3_room": {
+            "cls": "WallAccessory"
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+        "lightswitch_1_room": {
+            "cls": "WallAccessory"
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+        "lightswitch_2_room": {
+            "cls": "WallAccessory"
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+        "lightswitch_3_room": {
+            "cls": "WallAccessory"
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+        "stool_1_room": {
+            "cls": "Stool"
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+        "stool_2_room": {
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+        "stool_4_room": {
+            "cls": "Stool"
+        },
+        "fridgefrenchdoor_right_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "bottom_right_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "microwave_right_group_1": {
+            "cls": "Microwave"
+        },
+        "oven_cabinet_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_5_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_4_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_3_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "opencabinet_right_group_1": {
+            "cls": "OpenCabinet"
+        },
+        "sink_right_group_1": {
+            "cls": "Sink"
+        },
+        "counter_3_right_group_1": {
+            "cls": "Counter"
+        },
+        "stack_04_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_04_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_04_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_06_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_06_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_06_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_06_right_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_03_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_03_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_03_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_05_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_05_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_05_right_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "cube_2_right_group_1": {
+            "cls": "Box"
+        },
+        "cube_1_right_group_1": {
+            "cls": "Box"
+        },
+        "dishwasher_1_right_group_1": {
+            "cls": "Dishwasher"
+        },
+        "coffee_machine_right_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "widestove_main_group_1": {
+            "cls": "Stove"
+        },
+        "stove_hood_main_group_1": {
+            "cls": "Hood"
+        },
+        "counter_2_main_group_1": {
+            "cls": "Counter"
+        },
+        "stack_02_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_02_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_01_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_01_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_4_main_group_1": {
+            "cls": "Box"
+        },
+        "papertowel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group_1": {
+            "cls": "ToasterOven"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_3_island_group_1": {
+            "cls": "Box"
+        },
+        "stack_09_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_09_island_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_09_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_09_island_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_08_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_08_island_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_08_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_08_island_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_07_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_07_island_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_07_island_group_1_2": {
+            "cls": "HingeCabinet"
+        },
+        "stand_mixer_island_group_1": {
+            "cls": "StandMixer"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the cake in the stand mixer bowl.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
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+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
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+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
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+            "quat": [
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+                -0.55623859167099
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
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+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.340347652687917,
+        -2.87230619782098,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.1412869477002467
+    ]
+}

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

@@ -0,0 +1,377 @@
+{
+    "layout_id": 59,
+    "style_id": 60,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "cheese",
+                "bread",
+                "cake"
+            ],
+            "graspable": true,
+            "placement": {
+                "fixture": "counter_3_main_group_1",
+                "sample_region_kwargs": {
+                    "ref": "stand_mixer_main_group_1",
+                    "loc": "left_right",
+                    "min_size": [
+                        0.06629695839999997,
+                        0.07979124959999995,
+                        0.056484244799999965
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+                "size": [
+                    0.3,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "cake",
+                    "sweets",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "cheese",
+                    "bread",
+                    "cake"
+                ],
+                "cat": "cake",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cake/cake_1/model.xml"
+            },
+            "reset_region": {
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+                    1.1945964128061242,
+                    0.65
+                ],
+                "offset": [
+                    -0.43323429359693794,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_01_room": {
+            "cls": "Wall"
+        },
+        "wall_left_01_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_02_room": {
+            "cls": "Wall"
+        },
+        "wall_left_02_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_03_room": {
+            "cls": "Wall"
+        },
+        "wall_left_03_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_04_room": {
+            "cls": "Wall"
+        },
+        "wall_left_04_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_01_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_02_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_03_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_04_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
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+        "window_group_2_room": {
+            "cls": "Window"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "fridgefrenchdoor_left_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "bottom_left_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "microwave_left_group_1": {
+            "cls": "Microwave"
+        },
+        "oven_cabinet_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_island_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "cube_3_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_4_island_group_1": {
+            "cls": "Box"
+        },
+        "dishwasher_1_island_group_1": {
+            "cls": "Dishwasher"
+        },
+        "sink_island_group_1": {
+            "cls": "Sink"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "stack_01_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_01_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_01_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_02_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_02_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_02_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_03_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_03_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_03_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_04_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_04_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_04_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "counter_2_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_3_main_group_1": {
+            "cls": "Counter"
+        },
+        "widestove_main_group_1": {
+            "cls": "Stove"
+        },
+        "widestove_hood_main_group_1": {
+            "cls": "Hood"
+        },
+        "singlecabinet_03_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_02_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_01_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_04_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "stand_mixer_main_group_1": {
+            "cls": "StandMixer"
+        },
+        "paper_towel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group_1": {
+            "cls": "ToasterOven"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the cake in the stand mixer bowl.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
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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": {
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+            "parent_body": "mobilebase0_support"
+        },
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
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+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.1681578740529543,
+        -0.8870540647931653,
+        0.0
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+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707888166096549
+    ]
+}

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

@@ -0,0 +1,365 @@
+{
+    "layout_id": 41,
+    "style_id": 48,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "cheese",
+                "bread",
+                "cake"
+            ],
+            "graspable": true,
+            "placement": {
+                "fixture": "island_island_group_2",
+                "sample_region_kwargs": {
+                    "ref": "stand_mixer_island_group_2",
+                    "loc": "left_right",
+                    "min_size": [
+                        0.05550316911999999,
+                        0.05414003839999999,
+                        0.029310765119999995
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+                "size": [
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+                    0.3
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+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "cake",
+                    "sweets",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "cheese",
+                    "bread",
+                    "cake"
+                ],
+                "cat": "cake",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cake/cake_0/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.7931791851613201,
+                    1.299989
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+                "offset": [
+                    -0.65095940741934,
+                    0.0,
+                    0.46
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+                "name": "geom_0"
+            }
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+    ],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "lightswitch_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.003_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.001_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
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+            "cls": "Sink"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "singlecabinet_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "cube_1_main_group_1": {
+            "cls": "Box"
+        },
+        "dishwasher_1_main_group_1": {
+            "cls": "Dishwasher"
+        },
+        "bottom_main_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "microwave_main_group_1": {
+            "cls": "Microwave"
+        },
+        "fridgesidebyside_main_group_1": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridgesidebyside_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "oven_cabinet_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "knife_block_main_group_1": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "counter_2_right_group_1": {
+            "cls": "Counter"
+        },
+        "stove_right_group_1": {
+            "cls": "Stove"
+        },
+        "stove_hood_right_group_1": {
+            "cls": "Hood"
+        },
+        "singlecabinet_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_island_group_1_2": {
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+        },
+        "stack_3_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1_1": {
+            "cls": "Drawer"
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+        "stack_3_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "island_island_group_2": {
+            "cls": "Counter"
+        },
+        "stack_4_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_4_island_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_5_island_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stand_mixer_island_group_2": {
+            "cls": "StandMixer"
+        },
+        "paper_towel_island_group_2": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the cake in the stand mixer bowl.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
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+                0.0,
+                1.15
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+        "robot0_agentview_left": {
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+                1.05
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+                0.29935253,
+                -0.37678665,
+                -0.6775092
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
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+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
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+                -0.5,
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+            "camera_attribs": {
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+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
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+            "quat": [
+                0,
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+                0.707107,
+                0
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+            "parent_body": "robot0_right_hand"
+        }
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+    "init_robot_base_pos": [
+        2.770647030902571,
+        -2.2378888517115154,
+        0.0
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+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        4.71238898038469
+    ]
+}

pretrain/atomic/PickPlaceCounterToStandMixer/20250820/lerobot/extras/episode_000041/ep_meta.json

@@ -0,0 +1,456 @@
+{
+    "layout_id": 56,
+    "style_id": 29,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "cheese",
+                "bread",
+                "cake"
+            ],
+            "graspable": true,
+            "placement": {
+                "fixture": "counter_8_right_group_1",
+                "sample_region_kwargs": {
+                    "ref": "stand_mixer_right_group_1",
+                    "loc": "left_right",
+                    "min_size": [
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+                        0.0921648817046346,
+                        0.059641815869999996
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+                    -1.0
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+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "cheese",
+                    "dairy",
+                    "food",
+                    "in_container",
+                    "food_set1"
+                ],
+                "groups": [
+                    "cheese",
+                    "bread",
+                    "cake"
+                ],
+                "cat": "cheese",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cheese/cheese_2/model.xml"
+            },
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+                    0.65
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+                    0.46
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+                "name": "geom_1"
+            }
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+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_02_room": {
+            "cls": "WallAccessory"
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+        "lightswitch_03_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
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+        "stool_1_room": {
+            "cls": "Stool"
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+        "stack_13_island_group_2_base": {
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+            "cls": "HingeCabinet"
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+        "hingecabinet_4_main_group_1": {
+            "cls": "HingeCabinet"
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+        "opencabinet_2_main_group_1": {
+            "cls": "OpenCabinet"
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+        "opencabinet_3_main_group_1": {
+            "cls": "OpenCabinet"
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+        "counter_2_main_group_1": {
+            "cls": "Counter"
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+        "counter_corner_1_main_group_1": {
+            "cls": "Counter"
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+        "counter_3_main_group_1": {
+            "cls": "Counter"
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+        "stove_main_group_1": {
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+        "stove_hood_main_group_1": {
+            "cls": "Hood"
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+            "cls": "Box"
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+            "cls": "Box"
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+        },
+        "stack_03_main_group_1_1": {
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+        "stack_02_main_group_1_base": {
+            "cls": "Box"
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+        "stack_02_main_group_1_1": {
+            "cls": "SingleCabinet"
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+            "cls": "Box"
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+            "cls": "Drawer"
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+        "stack_04_main_group_1_2": {
+            "cls": "Drawer"
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+        "stack_04_main_group_1_3": {
+            "cls": "Drawer"
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+        "stack_08_main_group_1_base": {
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+        },
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+            "cls": "HingeCabinet"
+        },
+        "stack_08_main_group_1_2": {
+            "cls": "Drawer"
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+        "stack_06_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_06_main_group_1_1": {
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+        },
+        "stack_07_main_group_1_base": {
+            "cls": "Box"
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+        "stack_07_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_07_main_group_1_2": {
+            "cls": "Drawer"
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+        "stack_07_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "cube_8_main_group_1": {
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+        },
+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "papertowel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "plant_main_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group_1": {
+            "cls": "ToasterOven"
+        },
+        "singlecabinet_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "hingecabinet_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_9_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "counter_8_right_group_1": {
+            "cls": "Counter"
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+        "stack_6_right_group_1_base": {
+            "cls": "Box"
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+        },
+        "stack_6_right_group_1_2": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_11_right_group_1": {
+            "cls": "Box"
+        },
+        "stack_7_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_7_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_7_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_12_right_group_1": {
+            "cls": "Box"
+        },
+        "fridgefrenchdoor_right_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "bottom_right_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "oven_cabinet_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_right_group_1": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "stand_mixer_right_group_1": {
+            "cls": "StandMixer"
+        },
+        "sink_island_group_1": {
+            "cls": "Sink"
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+        "island_island_group_1": {
+            "cls": "Counter"
+        },
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+            "cls": "Box"
+        },
+        "stack_11_island_group_1_1": {
+            "cls": "HingeCabinet"
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+        "stack_11_island_group_1_2": {
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+        "stack_09_island_group_1_1": {
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+        "stack_09_island_group_1_2": {
+            "cls": "Drawer"
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+            "cls": "Drawer"
+        },
+        "stack_10_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_10_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_10_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "dishwasher_1_island_group_1": {
+            "cls": "Dishwasher"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_island_group_1": {
+            "cls": "Box"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the cheese in the stand mixer bowl.",
+    "fixture_refs": {},
+    "cam_configs": {
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+        "robot0_agentview_left": {
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+                0.35,
+                1.05
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+                -0.6775092
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+            },
+            "parent_body": "mobilebase0_support"
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+        "robot0_agentview_right": {
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+            "parent_body": "mobilebase0_support"
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+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
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+                0
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+            "quat": [
+                0,
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+                0.707107,
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+            "parent_body": "robot0_right_hand"
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+    "init_robot_base_pos": [
+        5.877463362504454,
+        -4.60029658049082,
+        0.0
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+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -0.0001655254467980427
+    ]
+}

pretrain/atomic/PickPlaceCounterToStandMixer/20250820/lerobot/extras/episode_000043/ep_meta.json

@@ -0,0 +1,416 @@
+{
+    "layout_id": 27,
+    "style_id": 37,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "cheese",
+                "bread",
+                "cake"
+            ],
+            "graspable": true,
+            "placement": {
+                "fixture": "counter_1_front_group",
+                "sample_region_kwargs": {
+                    "ref": "stand_mixer_front_group",
+                    "loc": "left_right",
+                    "min_size": [
+                        0.05318319076000001,
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+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "cheese",
+                    "bread",
+                    "cake"
+                ],
+                "cat": "bread",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_1/model.xml"
+            },
+            "reset_region": {
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+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
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+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_1_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "window_group_2_room": {
+            "cls": "Window"
+        },
+        "window_group_3_room": {
+            "cls": "Window"
+        },
+        "window_group_4_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
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+            "cls": "Counter"
+        },
+        "sink_1_main_group": {
+            "cls": "Sink"
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+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "box_main_group": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "bottom_main_group_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "middle_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "box_left_group": {
+            "cls": "Box"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "stove_front_group": {
+            "cls": "Stove"
+        },
+        "counter_2_front_group": {
+            "cls": "Counter"
+        },
+        "counter_3_front_group": {
+            "cls": "Counter"
+        },
+        "counter_4_front_group": {
+            "cls": "Counter"
+        },
+        "counter_5_front_group": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_front_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_front_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_front_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_front_group_2": {
+            "cls": "Drawer"
+        },
+        "box_1_front_group": {
+            "cls": "Box"
+        },
+        "box_2_front_group": {
+            "cls": "Box"
+        },
+        "box_3_front_group": {
+            "cls": "Box"
+        },
+        "hood_front_group": {
+            "cls": "Hood"
+        },
+        "stand_mixer_front_group": {
+            "cls": "StandMixer"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the bread in the stand mixer bowl.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
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+                1.15
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+        "robot0_agentview_right": {
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+        },
+        "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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+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -1.57079623937212
+    ]
+}

pretrain/atomic/PickPlaceCounterToStandMixer/20250820/lerobot/extras/episode_000045/ep_meta.json

@@ -0,0 +1,416 @@
+{
+    "layout_id": 27,
+    "style_id": 13,
+    "object_cfgs": [
+        {
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+            "obj_groups": [
+                "cheese",
+                "bread",
+                "cake"
+            ],
+            "graspable": true,
+            "placement": {
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+                    "loc": "left_right",
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+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "cake",
+                    "sweets",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "cheese",
+                    "bread",
+                    "cake"
+                ],
+                "cat": "cake",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cake/cake_3/model.xml"
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+            "cls": "Wall"
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+        "wall_left_1_backing_room": {
+            "cls": "Wall"
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+        "wall_main_1_room": {
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+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
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+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
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+        },
+        "floor_2_room": {
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+        "floor_2_backing_room": {
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+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
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+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_4_room": {
+            "cls": "WallAccessory"
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+        "stack_3_main_group_1": {
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+            "cls": "HingeCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
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+            "cls": "SingleCabinet"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
+        },
+        "box_left_group": {
+            "cls": "Box"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "stove_front_group": {
+            "cls": "Stove"
+        },
+        "counter_2_front_group": {
+            "cls": "Counter"
+        },
+        "counter_3_front_group": {
+            "cls": "Counter"
+        },
+        "counter_4_front_group": {
+            "cls": "Counter"
+        },
+        "counter_5_front_group": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_front_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_front_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_front_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_front_group_2": {
+            "cls": "Drawer"
+        },
+        "box_1_front_group": {
+            "cls": "Box"
+        },
+        "box_2_front_group": {
+            "cls": "Box"
+        },
+        "box_3_front_group": {
+            "cls": "Box"
+        },
+        "hood_front_group": {
+            "cls": "Hood"
+        },
+        "stand_mixer_front_group": {
+            "cls": "StandMixer"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the cake in the stand mixer bowl.",
+    "fixture_refs": {},
+    "cam_configs": {
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+    "init_robot_base_pos": [
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+        -1.57079623937212
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+}

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

@@ -0,0 +1,383 @@
+{
+    "layout_id": 11,
+    "style_id": 22,
+    "object_cfgs": [
+        {
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+            "obj_groups": [
+                "cheese",
+                "bread",
+                "cake"
+            ],
+            "graspable": true,
+            "placement": {
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+                    "all",
+                    "cake",
+                    "sweets",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "cheese",
+                    "bread",
+                    "cake"
+                ],
+                "cat": "cake",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cake/cake_0/model.xml"
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+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_room": {
+            "cls": "Wall"
+        },
+        "wall_main_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_3_room": {
+            "cls": "Wall"
+        },
+        "wall_left_3_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stove_1_main_group": {
+            "cls": "Stove"
+        },
+        "counter_2_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "SingleCabinet"
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+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
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+        "stack_3_main_group_1": {
+            "cls": "SingleCabinet"
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+        "stack_3_main_group_2": {
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+            "cls": "Box"
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+        "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"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_main_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "counter_stack_main_group_base": {
+            "cls": "Box"
+        },
+        "counter_stack_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "counter_stack_main_group_2": {
+            "cls": "SingleCabinet"
+        },
+        "counter_stack_main_group_3": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "sink_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "counter_left_group": {
+            "cls": "Counter"
+        },
+        "panel_cab_left_group_base": {
+            "cls": "Box"
+        },
+        "panel_cab_left_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_left_group": {
+            "cls": "Dishwasher"
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+        "stack_1_left_group_base": {
+            "cls": "Box"
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+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
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+        "stack_1_left_group_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "box_left_group": {
+            "cls": "Box"
+        },
+        "stand_mixer_left_group": {
+            "cls": "StandMixer"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_left_group": {
+            "cls": "Accessory"
+        },
+        "box_right_group": {
+            "cls": "Box"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "dining_dining_group": {
+            "cls": "Counter"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the cake in the stand mixer bowl.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
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+            "parent_body": "mobilebase0_support"
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+        "robot0_agentview_right": {
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+        },
+        "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": [
+        0.8384567228116419,
+        -2.719445055352231,
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+        0.0,
+        0.0,
+        3.1415926193612504
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+}

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

@@ -0,0 +1,392 @@
+{
+    "layout_id": 60,
+    "style_id": 41,
+    "object_cfgs": [
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+            "obj_groups": [
+                "cheese",
+                "bread",
+                "cake"
+            ],
+            "graspable": true,
+            "placement": {
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+            "info": {
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+                    "all",
+                    "cake",
+                    "sweets",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "cheese",
+                    "bread",
+                    "cake"
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+                "cat": "cake",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cake/cake_5/model.xml"
+            },
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+            "cls": "Wall"
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+        "wall_left_1_backing_room": {
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+        },
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+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
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+            "cls": "Wall"
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+        "wall_right_1_backing_room": {
+            "cls": "Wall"
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+        "wall_right_2_room": {
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+        },
+        "wall_right_2_backing_room": {
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+        "wall_main_2_room": {
+            "cls": "Wall"
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+        "floor_1_backing_room": {
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+        "lightswitch_01_room": {
+            "cls": "WallAccessory"
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+            "cls": "Stove"
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+        "microwave_main_group_1": {
+            "cls": "Microwave"
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+        "micro_cab_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_01_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_02_main_group_1": {
+            "cls": "HingeCabinet"
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+        "cube_3_main_group_1": {
+            "cls": "Box"
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+        "singlecabinet_01_main_group_1": {
+            "cls": "SingleCabinet"
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+        "stack_6_main_group_1_base": {
+            "cls": "Box"
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+        "stack_6_main_group_1_3": {
+            "cls": "Drawer"
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+        "stack_5_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1_1": {
+            "cls": "SingleCabinet"
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+            "cls": "Box"
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+        "cube_12_main_group_1": {
+            "cls": "Box"
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+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
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+        "paper_towel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "plant_main_group_1": {
+            "cls": "Accessory"
+        },
+        "fridgebottomfreezer_right_group_1": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "fridgebottomfreezer_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_05_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "counter_6_right_group_1": {
+            "cls": "Counter"
+        },
+        "hingecabinet_04_right_group_1": {
+            "cls": "HingeCabinet"
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+        "hingecabinet_06_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_7_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_7_right_group_1_1": {
+            "cls": "HingeCabinet"
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+        "stack_7_right_group_1_2": {
+            "cls": "Drawer"
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+        "stack_8_right_group_1_base": {
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+        },
+        "cube_13_right_group_1": {
+            "cls": "Box"
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+        "toaster_oven_right_group_1": {
+            "cls": "ToasterOven"
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+        "sink_left_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group_1": {
+            "cls": "Counter"
+        },
+        "counter_5_left_group_1": {
+            "cls": "Counter"
+        },
+        "cube_1_left_group_1": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1_1": {
+            "cls": "Drawer"
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+            "cls": "Drawer"
+        },
+        "stack_4_left_group_1_base": {
+            "cls": "Box"
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+        "stack_4_left_group_1_1": {
+            "cls": "SingleCabinet"
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+        "stack_2_left_group_1_base": {
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+            "cls": "HingeCabinet"
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+        },
+        "stack_3_left_group_1_base": {
+            "cls": "Box"
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+        "stack_3_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_4_left_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_left_group_1": {
+            "cls": "Box"
+        },
+        "dishwasher_1_left_group_1": {
+            "cls": "Dishwasher"
+        },
+        "toaster_left_group_1": {
+            "cls": "Toaster"
+        },
+        "stand_mixer_left_group_1": {
+            "cls": "StandMixer"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the cake in the stand mixer bowl.",
+    "fixture_refs": {},
+    "cam_configs": {
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+}

pretrain/atomic/PickPlaceCounterToStandMixer/20250820/lerobot/extras/episode_000050/ep_meta.json

@@ -0,0 +1,423 @@
+{
+    "layout_id": 33,
+    "style_id": 52,
+    "object_cfgs": [
+        {
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+            "obj_groups": [
+                "cheese",
+                "bread",
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+            ],
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+            "placement": {
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+                    "ref": "stand_mixer_island_group_1",
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+                    -1.0
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+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "cheese",
+                    "dairy",
+                    "food",
+                    "in_container",
+                    "food_set1"
+                ],
+                "groups": [
+                    "cheese",
+                    "bread",
+                    "cake"
+                ],
+                "cat": "cheese",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cheese/cheese_3/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.2915032521963151,
+                    1.1661
+                ],
+                "offset": [
+                    0.7828125433497279,
+                    2.0816681711721685e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3.001_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3.001_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2.001_room": {
+            "cls": "Floor"
+        },
+        "floor_2.001_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stool_4_room": {
+            "cls": "Stool"
+        },
+        "counter_2_right_group_1": {
+            "cls": "Counter"
+        },
+        "hingecabinet_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_3_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "fridgefrenchdoor_right_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_4_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "bottom_right_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "microwave_right_group_1": {
+            "cls": "Microwave"
+        },
+        "oven_cabinet_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_2_main_group_1": {
+            "cls": "Counter"
+        },
+        "widestove_main_group_1": {
+            "cls": "Stove"
+        },
+        "widestove_hood_main_group_1": {
+            "cls": "Hood"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group_1": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group_1": {
+            "cls": "ToasterOven"
+        },
+        "sink_island_group_1": {
+            "cls": "Sink"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_island_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_4_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_3_island_group_1": {
+            "cls": "Box"
+        },
+        "dishwasher_1_island_group_1": {
+            "cls": "Dishwasher"
+        },
+        "stand_mixer_island_group_1": {
+            "cls": "StandMixer"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the cheese in the stand mixer bowl.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
+            "pos": [
+                -0.5,
+                0,
+                0.95
+            ],
+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        1.3610310241216539,
+        -1.7871229044719281,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -1.5706453736350774
+    ]
+}

pretrain/atomic/PickPlaceCounterToStandMixer/20250820/lerobot/extras/episode_000051/ep_meta.json

@@ -0,0 +1,494 @@
+{
+    "layout_id": 20,
+    "style_id": 11,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "cheese",
+                "bread",
+                "cake"
+            ],
+            "graspable": true,
+            "placement": {
+                "fixture": "counter_1_island_group_2",
+                "sample_region_kwargs": {
+                    "ref": "stand_mixer_island_group_2",
+                    "loc": "left_right",
+                    "min_size": [
+                        0.05318319076000001,
+                        0.09707054252000001,
+                        0.07255429020000001
+                    ]
+                },
+                "size": [
+                    0.3,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "cheese",
+                    "bread",
+                    "cake"
+                ],
+                "cat": "bread",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_1/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    2.0970060996304247,
+                    0.65
+                ],
+                "offset": [
+                    0.2514969501847877,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_1"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_2_room": {
+            "cls": "Wall"
+        },
+        "wall_front_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_3_room": {
+            "cls": "Wall"
+        },
+        "wall_front_3_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "counter_corner_main_group": {
+            "cls": "Counter"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_2_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "box_main_group": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "cab_4_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_5_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_6_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "counter_corner_1_left_group": {
+            "cls": "Counter"
+        },
+        "sink_1_left_group": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "box_1_left_group": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_1_left_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "box_2_left_group": {
+            "cls": "Box"
+        },
+        "cab_1_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_left_group": {
+            "cls": "Box"
+        },
+        "knife_block_left_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "panel_stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "panel_stack_1_island_group_1_1": {
+            "cls": "PanelCabinet"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "panel_stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "panel_stack_2_island_group_1_1": {
+            "cls": "PanelCabinet"
+        },
+        "plant_island_group_1": {
+            "cls": "Accessory"
+        },
+        "counter_1_island_group_2": {
+            "cls": "Counter"
+        },
+        "panel_stack_1_island_group_2_base": {
+            "cls": "Box"
+        },
+        "panel_stack_1_island_group_2_1": {
+            "cls": "PanelCabinet"
+        },
+        "stack_1_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_2_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_2_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_2_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_2_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_2_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_2_2": {
+            "cls": "Drawer"
+        },
+        "panel_stack_2_island_group_2_base": {
+            "cls": "Box"
+        },
+        "panel_stack_2_island_group_2_1": {
+            "cls": "PanelCabinet"
+        },
+        "stand_mixer_island_group_2": {
+            "cls": "StandMixer"
+        },
+        "counter_1_front_group_1": {
+            "cls": "Counter"
+        },
+        "fridge_1_front_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_1_housing_front_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "box_front_group_1": {
+            "cls": "Box"
+        },
+        "cab_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_front_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_front_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_front_group_1": {
+            "cls": "Toaster"
+        },
+        "counter_1_front_group_2": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_front_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_2_front_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_front_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_3_front_group_2_1": {
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+        "toaster_oven_front_group_2": {
+            "cls": "ToasterOven"
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+    },
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+    "lang": "Place the bread in the stand mixer bowl.",
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+        "robot0_eye_in_hand": {
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+}

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

@@ -0,0 +1,419 @@
+{
+    "layout_id": 31,
+    "style_id": 26,
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+            "obj_groups": [
+                "cheese",
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+            "type": "object",
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+                    "all",
+                    "bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
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+                    "cheese",
+                    "bread",
+                    "cake"
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+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_11/model.xml"
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+        "wall_main_1_backing_room": {
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+            "cls": "Wall"
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+            "cls": "CoffeeMachine"
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+        "toaster_right_group_1": {
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+        },
+        "papertowel_right_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_right_group_1": {
+            "cls": "ToasterOven"
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+        "sink_island_group_1": {
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+            "cls": "Counter"
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+        },
+        "stack_1_island_group_1_2": {
+            "cls": "Drawer"
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+        "stack_1_island_group_1_3": {
+            "cls": "Drawer"
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+        "stack_2_island_group_1_base": {
+            "cls": "Box"
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+        "stack_2_island_group_1_1": {
+            "cls": "HingeCabinet"
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+        "stack_3_island_group_1_base": {
+            "cls": "Box"
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+        "stack_3_island_group_1_1": {
+            "cls": "SingleCabinet"
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+            "cls": "Box"
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+            "cls": "Drawer"
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+            "cls": "Dishwasher"
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+}

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

@@ -0,0 +1,348 @@
+{
+    "layout_id": 52,
+    "style_id": 13,
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+            "type": "object",
+            "info": {
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+                    "dairy",
+                    "food",
+                    "in_container",
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+            "cls": "Drawer"
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+            "cls": "Box"
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+        "fridgebottomfreezer_left_group_1": {
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+        },
+        "fridgebottomfreezer_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_5_left_group_1": {
+            "cls": "HingeCabinet"
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+        },
+        "microwave_left_group_1": {
+            "cls": "Microwave"
+        },
+        "cab_micro_left_group_1": {
+            "cls": "HingeCabinet"
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+    "gen_textures": {},
+    "lang": "Place the cheese in the stand mixer bowl.",
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+    "cam_configs": {
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+        "robot0_eye_in_hand": {
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+        0.959869356933209,
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+}

pretrain/atomic/PickPlaceCounterToStandMixer/20250820/lerobot/extras/episode_000055/ep_meta.json

@@ -0,0 +1,335 @@
+{
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+    "style_id": 40,
+    "object_cfgs": [
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+            "obj_groups": [
+                "cheese",
+                "bread",
+                "cake"
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+            "graspable": true,
+            "placement": {
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+                    "bread_food",
+                    "food",
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+                    "cheese",
+                    "bread",
+                    "cake"
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+                "cat": "bread",
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+        "stool_4_room": {
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+        "hingecabinet_3_left_group_1": {
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+            "cls": "HousingCabinet"
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+            "cls": "Toaster"
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+            "cls": "Box"
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+        "cube_3_island_group_1": {
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+}

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

@@ -0,0 +1,501 @@
+{
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+    "object_cfgs": [
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+                "cheese",
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+                    "cheese",
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+                    "food",
+                    "in_container",
+                    "food_set1"
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+                    "cheese",
+                    "bread",
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+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cheese/cheese_0/model.xml"
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+        "wall_main_1_room": {
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+        "wall_right_2_room": {
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+        "wall_right_3_room": {
+            "cls": "Wall"
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+        "floor_1_room": {
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+        "wall_accessory_2_room": {
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+        "wall_accessory_3_room": {
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+            "cls": "Drawer"
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+            "cls": "Drawer"
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+            "cls": "Box"
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+        "fridge_1_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_1_housing_left_group": {
+            "cls": "HousingCabinet"
+        },
+        "hood_left_group": {
+            "cls": "Hood"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "bottom_right_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "oven_right_group_1": {
+            "cls": "Oven"
+        },
+        "oven_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_right_group_1": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_1_base": {
+            "cls": "Box"
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+        "stack_1_right_group_1_1": {
+            "cls": "HingeCabinet"
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+        "stack_2_right_group_1_base": {
+            "cls": "Box"
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+        "stack_2_right_group_1_1": {
+            "cls": "PanelCabinet"
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+        "box_right_group_1": {
+            "cls": "Box"
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+        "stack_3_right_group_1_base": {
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+        "stack_3_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
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+        "cab_1_right_group_1": {
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+            "cls": "PanelCabinet"
+        },
+        "box_1_island_group": {
+            "cls": "Box"
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+    "gen_textures": {},
+    "lang": "Place the cheese in the stand mixer bowl.",
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+    "cam_configs": {
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+        "robot0_eye_in_hand": {
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+}

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

@@ -0,0 +1,456 @@
+{
+    "layout_id": 56,
+    "style_id": 25,
+    "object_cfgs": [
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+            "obj_groups": [
+                "cheese",
+                "bread",
+                "cake"
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+            "placement": {
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+                "groups_containing_sampled_obj": [
+                    "all",
+                    "cheese",
+                    "dairy",
+                    "food",
+                    "in_container",
+                    "food_set1"
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+                "groups": [
+                    "cheese",
+                    "bread",
+                    "cake"
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+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cheese/cheese_4/model.xml"
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+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
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+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
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+        "wallaccessory_1_room": {
+            "cls": "WallAccessory"
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+        "wallaccessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_3_room": {
+            "cls": "WallAccessory"
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+        "wallaccessory_4_room": {
+            "cls": "WallAccessory"
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+        "stool_3_room": {
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+        "stack_02_main_group_1_1": {
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+        "stack_04_main_group_1_3": {
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+        "stack_08_main_group_1_base": {
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+        "stack_06_main_group_1_1": {
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+        "stack_07_main_group_1_1": {
+            "cls": "Drawer"
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+            "cls": "Drawer"
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+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "papertowel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "plant_main_group_1": {
+            "cls": "Accessory"
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+        "toaster_oven_main_group_1": {
+            "cls": "ToasterOven"
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+        "singlecabinet_1_right_group_1": {
+            "cls": "SingleCabinet"
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+        "hingecabinet_1_right_group_1": {
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+        "hingecabinet_9_right_group_1": {
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+            "cls": "HingeCabinet"
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+            "cls": "Box"
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+        },
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+            "cls": "HingeCabinet"
+        },
+        "stack_7_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_12_right_group_1": {
+            "cls": "Box"
+        },
+        "fridgefrenchdoor_right_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "bottom_right_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "oven_cabinet_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_right_group_1": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_right_group_1": {
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+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "stand_mixer_right_group_1": {
+            "cls": "StandMixer"
+        },
+        "sink_island_group_1": {
+            "cls": "Sink"
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+        "island_island_group_1": {
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+            "cls": "Drawer"
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+            "cls": "Box"
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+        "stack_10_island_group_1_1": {
+            "cls": "SingleCabinet"
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+            "cls": "Drawer"
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+            "cls": "Dishwasher"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_island_group_1": {
+            "cls": "Box"
+        }
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+    "lang": "Place the cheese in the stand mixer bowl.",
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+            "parent_body": "mobilebase0_support"
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+        "robot0_eye_in_hand": {
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+        -0.0001655254467980427
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+}

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

@@ -0,0 +1,500 @@
+{
+    "layout_id": 29,
+    "style_id": 23,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "cheese",
+                "bread",
+                "cake"
+            ],
+            "graspable": true,
+            "placement": {
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+                "sample_region_kwargs": {
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+                    "loc": "left_right",
+                    "min_size": [
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+                    -1.0
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+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
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+                "groups": [
+                    "cheese",
+                    "bread",
+                    "cake"
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+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_1/model.xml"
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+        "wall_right_1_backing_room": {
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+        "wall_left_1_room": {
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+        "wall_left_3_room": {
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+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
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+            "cls": "WallAccessory"
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+        "stool_2_room": {
+            "cls": "Stool"
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+        "stool_4_room": {
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+        "bottom_main_group_base": {
+            "cls": "Box"
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+        "bottom_main_group_1": {
+            "cls": "Drawer"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
+        },
+        "oven_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
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+            "cls": "HingeCabinet"
+        },
+        "top_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "dishwasher_main_group": {
+            "cls": "Dishwasher"
+        },
+        "panel_stack_main_group_base": {
+            "cls": "Box"
+        },
+        "panel_stack_main_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_4_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_5_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_6_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "stovetop_left_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1": {
+            "cls": "Drawer"
+        },
+        "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": "Drawer"
+        },
+        "stack_2_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "PanelCabinet"
+        },
+        "stack_4_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_left_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_5_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_left_group_3": {
+            "cls": "Drawer"
+        },
+        "hood_left_group": {
+            "cls": "Hood"
+        },
+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_4_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_left_group": {
+            "cls": "Toaster"
+        },
+        "sink_island_group": {
+            "cls": "Sink"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "panel_box_1_island_group_base": {
+            "cls": "Box"
+        },
+        "panel_box_1_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_island_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_island_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_5_island_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_island_group_3": {
+            "cls": "Drawer"
+        },
+        "panel_cab_2_island_group_base": {
+            "cls": "Box"
+        },
+        "panel_cab_2_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "box_island_group": {
+            "cls": "Box"
+        },
+        "stand_mixer_island_group": {
+            "cls": "StandMixer"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the bread in the stand mixer bowl.",
+    "fixture_refs": {},
+    "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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+                0.35,
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+                0.29935253,
+                -0.37678665,
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+            "parent_body": "mobilebase0_support"
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+        "robot0_agentview_right": {
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+            "parent_body": "mobilebase0_support"
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+        "robot0_frontview": {
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+                0.95
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+            "camera_attribs": {
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+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
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+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
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+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        1.1891203596557705,
+        -2.8177288330897667,
+        0.0
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+        0.0,
+        0.0,
+        3.4228548662085245e-08
+    ]
+}

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

@@ -0,0 +1,372 @@
+{
+    "layout_id": 36,
+    "style_id": 52,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "cheese",
+                "bread",
+                "cake"
+            ],
+            "graspable": true,
+            "placement": {
+                "fixture": "counter_1_left_group_1",
+                "sample_region_kwargs": {
+                    "ref": "stand_mixer_left_group_1",
+                    "loc": "left_right",
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+                        0.0921648817046346,
+                        0.059641815869999996
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+                    0.3
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+                "pos": [
+                    "ref",
+                    -1.0
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+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "cheese",
+                    "dairy",
+                    "food",
+                    "in_container",
+                    "food_set1"
+                ],
+                "groups": [
+                    "cheese",
+                    "bread",
+                    "cake"
+                ],
+                "cat": "cheese",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cheese/cheese_2/model.xml"
+            },
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+                    0.65
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+                    -3.469446951953614e-17,
+                    0.46
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+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_backing_room": {
+            "cls": "Wall"
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+        "wall_left_3_room": {
+            "cls": "Wall"
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+        "wall_left_3_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_backing_room": {
+            "cls": "Wall"
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+        "wall_front_2_room": {
+            "cls": "Wall"
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+        "wall_front_2_backing_room": {
+            "cls": "Wall"
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+            "cls": "Wall"
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+        "wall_left_5_backing_room": {
+            "cls": "Wall"
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+        "wall_right_2_backing_room": {
+            "cls": "Wall"
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+        "floor_1_room": {
+            "cls": "Floor"
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+        "floor_1_backing_room": {
+            "cls": "Floor"
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+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_room": {
+            "cls": "WallAccessory"
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+        "wallaccessory.001_room": {
+            "cls": "WallAccessory"
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+        "wallaccessory.002_room": {
+            "cls": "WallAccessory"
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+        "wallaccessory.003_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "counter_1_front_group_1": {
+            "cls": "Counter"
+        },
+        "fridgefrenchdoor_front_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_front_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "stack_1_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_1_2": {
+            "cls": "Drawer"
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+        "cube_2_front_group_1": {
+            "cls": "Box"
+        },
+        "cube_1_front_group_1": {
+            "cls": "Box"
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+        "papertowel_front_group_1": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "counter_2_right_group_1": {
+            "cls": "Counter"
+        },
+        "stove_right_group_1": {
+            "cls": "Stove"
+        },
+        "microwave_right_group_1": {
+            "cls": "Microwave"
+        },
+        "micro_cab_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "plant_right_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_right_group_1": {
+            "cls": "ToasterOven"
+        },
+        "sink_left_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group_1": {
+            "cls": "Counter"
+        },
+        "hingecabinet_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_1_2": {
+            "cls": "Drawer"
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+        "cube_1_left_group_1": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_1_base": {
+            "cls": "Box"
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+        "stack_3_left_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "dishwasher_1_left_group_1": {
+            "cls": "Dishwasher"
+        },
+        "coffee_machine_left_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "stand_mixer_left_group_1": {
+            "cls": "StandMixer"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the cheese in the stand mixer bowl.",
+    "fixture_refs": {},
+    "cam_configs": {
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+                0.0,
+                1.15
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+                -0.6175596117973328
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+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
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+            "quat": [
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+                0.29935253,
+                -0.37678665,
+                -0.6775092
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+            },
+            "parent_body": "mobilebase0_support"
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+        "robot0_agentview_right": {
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+        "robot0_eye_in_hand": {
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+    "init_robot_base_pos": [
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+}

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

@@ -0,0 +1,422 @@
+{
+    "layout_id": 33,
+    "style_id": 45,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "cheese",
+                "bread",
+                "cake"
+            ],
+            "graspable": true,
+            "placement": {
+                "fixture": "island_island_group_1",
+                "sample_region_kwargs": {
+                    "ref": "stand_mixer_island_group_1",
+                    "loc": "left_right",
+                    "min_size": [
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+                        0.06379868959999997
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+                    0.3
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+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "cake",
+                    "sweets",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "cheese",
+                    "bread",
+                    "cake"
+                ],
+                "cat": "cake",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cake/cake_3/model.xml"
+            },
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+                "name": "geom_1"
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+    "fixtures": {
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+        "wall_main_1_backing_room": {
+            "cls": "Wall"
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+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3.001_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3.001_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2.001_room": {
+            "cls": "Floor"
+        },
+        "floor_2.001_backing_room": {
+            "cls": "Floor"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stool_4_room": {
+            "cls": "Stool"
+        },
+        "counter_2_right_group_1": {
+            "cls": "Counter"
+        },
+        "hingecabinet_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_3_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "fridgefrenchdoor_right_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_4_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "bottom_right_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "microwave_right_group_1": {
+            "cls": "Microwave"
+        },
+        "oven_cabinet_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_2_main_group_1": {
+            "cls": "Counter"
+        },
+        "widestove_main_group_1": {
+            "cls": "Stove"
+        },
+        "widestove_hood_main_group_1": {
+            "cls": "Hood"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "knife_block_main_group_1": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group_1": {
+            "cls": "ToasterOven"
+        },
+        "sink_island_group_1": {
+            "cls": "Sink"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_island_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_4_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_3_island_group_1": {
+            "cls": "Box"
+        },
+        "dishwasher_1_island_group_1": {
+            "cls": "Dishwasher"
+        },
+        "stand_mixer_island_group_1": {
+            "cls": "StandMixer"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the cake in the stand mixer bowl.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
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+                -0.6175596117973328
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+        "robot0_agentview_left": {
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+                0.35,
+                1.05
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+                0.29935253,
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+                -0.6775092
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+            "camera_attribs": {
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+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
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+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
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+                0.95
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        1.0454837763050913,
+        -1.7843537364474942,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        -1.5706453736350774
+    ]
+}

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

@@ -0,0 +1,317 @@
+{
+    "layout_id": 40,
+    "style_id": 17,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "cheese",
+                "bread",
+                "cake"
+            ],
+            "graspable": true,
+            "placement": {
+                "fixture": "counter_1_right_group_1",
+                "sample_region_kwargs": {
+                    "ref": "stand_mixer_right_group_1",
+                    "loc": "left_right",
+                    "min_size": [
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+                        0.09707054252000001,
+                        0.07255429020000001
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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",
+                    "bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "cheese",
+                    "bread",
+                    "cake"
+                ],
+                "cat": "bread",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_1/model.xml"
+            },
+            "reset_region": {
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+                    -3.469446951953614e-17,
+                    0.46
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+                "name": "geom_0"
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+    "fixtures": {
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+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "lightswitch_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.002_room": {
+            "cls": "WallAccessory"
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+        "wallaccessory.001_room": {
+            "cls": "WallAccessory"
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+        "wallaccessory.003_room": {
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+        "window_group_room": {
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+            "cls": "Counter"
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+        "singlecabinet_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "box_1_main_group_1": {
+            "cls": "Box"
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+            "cls": "Box"
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+        "stack_1_main_group_1_1": {
+            "cls": "HingeCabinet"
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+        "stack_1_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_2_main_group_1": {
+            "cls": "Box"
+        },
+        "coffeemachine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "papertowel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "sink_right_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group_1": {
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+        },
+        "stove_right_group_1": {
+            "cls": "Stove"
+        },
+        "microwave_right_group_1": {
+            "cls": "Microwave"
+        },
+        "micro_cab_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "box_1_right_group_1": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_1_right_group_1": {
+            "cls": "Dishwasher"
+        },
+        "box_2_right_group_1": {
+            "cls": "Box"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "stand_mixer_right_group_1": {
+            "cls": "StandMixer"
+        },
+        "fridgefrenchdoor_right_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_1_right_group_1": {
+            "cls": "HingeCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the bread in the stand mixer bowl.",
+    "fixture_refs": {},
+    "cam_configs": {
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+        "robot0_agentview_left": {
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+                0.35,
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+                0.29935253,
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+                -0.6775092
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+            "camera_attribs": {
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+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
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+            "parent_body": "mobilebase0_support"
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
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+            "quat": [
+                0,
+                0.707107,
+                0.707107,
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+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        2.950939519053761,
+        -2.6732032569587756,
+        0.0
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+    "init_robot_base_ori": [
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+        0.0,
+        0.00030199704781619374
+    ]
+}

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

@@ -0,0 +1,458 @@
+{
+    "layout_id": 24,
+    "style_id": 16,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "cheese",
+                "bread",
+                "cake"
+            ],
+            "graspable": true,
+            "placement": {
+                "fixture": "island_island_group_1",
+                "sample_region_kwargs": {
+                    "ref": "stand_mixer_island_group_1",
+                    "loc": "left_right",
+                    "min_size": [
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+                    -1.0
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+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "cheese",
+                    "bread",
+                    "cake"
+                ],
+                "cat": "bread",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_17/model.xml"
+            },
+            "reset_region": {
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+                "name": "geom_1"
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+    "fixtures": {
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+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
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+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_5_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_6_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "window_group_2_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
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+        "stool_3_room": {
+            "cls": "Stool"
+        },
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+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_2_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "dishwasher_main_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_5": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_6": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_7_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_7_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_7_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_7_main_group_3": {
+            "cls": "Drawer"
+        },
+        "wall_stack_main_group_base": {
+            "cls": "Box"
+        },
+        "wall_stack_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "wall_stack_main_group_2": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_4_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_5_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_6_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_cabinet_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "sink_1_island_group_1": {
+            "cls": "Sink"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "box_island_group_1": {
+            "cls": "Box"
+        },
+        "panel_box_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "panel_box_1_island_group_1_1": {
+            "cls": "PanelCabinet"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_island_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_4_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_5_island_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_5_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_island_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stand_mixer_island_group_1": {
+            "cls": "StandMixer"
+        },
+        "plant_island_group_1": {
+            "cls": "Accessory"
+        },
+        "stack_1_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_2_1": {
+            "cls": "SingleCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the bread in the stand mixer bowl.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
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+                1.15
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+        },
+        "robot0_agentview_left": {
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+                0.29935253,
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+                -0.6775092
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+            "camera_attribs": {
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+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
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+                -0.35,
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+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_frontview": {
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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"
+        }
+    },
+    "init_robot_base_pos": [
+        2.520199705278541,
+        -1.8132668642395384,
+        0.0
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+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        4.712388892961913
+    ]
+}

pretrain/atomic/PickPlaceCounterToStandMixer/20250820/lerobot/extras/episode_000077/ep_meta.json

@@ -0,0 +1,392 @@
+{
+    "layout_id": 45,
+    "style_id": 11,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "cheese",
+                "bread",
+                "cake"
+            ],
+            "graspable": true,
+            "placement": {
+                "fixture": "island_island_group_1",
+                "sample_region_kwargs": {
+                    "ref": "stand_mixer_island_group_1",
+                    "loc": "left_right",
+                    "min_size": [
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+                        0.09592070783999997,
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+                "size": [
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+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "cake",
+                    "sweets",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "cheese",
+                    "bread",
+                    "cake"
+                ],
+                "cat": "cake",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cake/cake_4/model.xml"
+            },
+            "reset_region": {
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+                    1.04
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+                    0.46
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+                "name": "geom_1"
+            }
+        }
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+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.003_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.004_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.002_room": {
+            "cls": "WallAccessory"
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+        "window_group_1_room": {
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+        "window_group_2_room": {
+            "cls": "Window"
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+        "stool_1_room": {
+            "cls": "Stool"
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+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
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+        "counter_1_main_group_1": {
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+        "stack_1_main_group_1_1": {
+            "cls": "HingeCabinet"
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+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
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+        "stack_3_main_group_1_base": {
+            "cls": "Box"
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+        "stack_3_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_1_base": {
+            "cls": "Box"
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+        "stack_4_main_group_1_1": {
+            "cls": "SingleCabinet"
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+        "cube_1_main_group_1": {
+            "cls": "Box"
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+            "cls": "Box"
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+        "stack_2_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_1_main_group_1": {
+            "cls": "Dishwasher"
+        },
+        "cube_2_main_group_1": {
+            "cls": "Box"
+        },
+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "knife_block_main_group_1": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "stove_right_group_1": {
+            "cls": "Stove"
+        },
+        "microwave_right_group_1": {
+            "cls": "Microwave"
+        },
+        "micro_cab_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "counter_2_right_group_1": {
+            "cls": "Counter"
+        },
+        "fridgesidebyside_right_group_1": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridgesidebyside_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_5_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_4_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "cube_1_right_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_right_group_1": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_right_group_1_2": {
+            "cls": "Drawer"
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+        "stack_3_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1_1": {
+            "cls": "HingeCabinet"
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+        "stack_3_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "cube_island_group_1": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "panelbox_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "panelbox_2_island_group_1_1": {
+            "cls": "PanelCabinet"
+        },
+        "panelbox_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "panelbox_1_island_group_1_1": {
+            "cls": "PanelCabinet"
+        },
+        "stand_mixer_island_group_1": {
+            "cls": "StandMixer"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the cake in the stand mixer bowl.",
+    "fixture_refs": {},
+    "cam_configs": {
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+        "robot0_agentview_left": {
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+        "robot0_eye_in_hand": {
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+        0.0,
+        3.14159329371052
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+}

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

@@ -0,0 +1,404 @@
+{
+    "layout_id": 19,
+    "style_id": 46,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "cheese",
+                "bread",
+                "cake"
+            ],
+            "graspable": true,
+            "placement": {
+                "fixture": "dining_dining_area_group",
+                "sample_region_kwargs": {
+                    "ref": "stand_mixer_dining_area_group",
+                    "loc": "left_right",
+                    "min_size": [
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+                "pos": [
+                    "ref",
+                    -1.0
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+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "cake",
+                    "sweets",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "cheese",
+                    "bread",
+                    "cake"
+                ],
+                "cat": "cake",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cake/cake_0/model.xml"
+            },
+            "reset_region": {
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+                    0.0,
+                    0.46
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+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_1_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "sink_left_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_1_3": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "bottom_left_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "middle_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "middle_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "top_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_oven_left_group_1": {
+            "cls": "ToasterOven"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group_1": {
+            "cls": "Counter"
+        },
+        "box_1_right_group_1": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "dishwasher_1_right_group_1": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "box_2_right_group_1": {
+            "cls": "Box"
+        },
+        "cab_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "paper_towel_right_group_1": {
+            "cls": "Accessory"
+        },
+        "counter_corner_1_main_group_3": {
+            "cls": "Counter"
+        },
+        "stove_main_group_3": {
+            "cls": "Stove"
+        },
+        "fridge_1_main_group_3": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "fridge_1_housing_main_group_3": {
+            "cls": "HousingCabinet"
+        },
+        "top_1_main_group_3": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group_3": {
+            "cls": "OpenCabinet"
+        },
+        "microwave_main_group_3": {
+            "cls": "Microwave"
+        },
+        "cab_micro_main_group_3": {
+            "cls": "HingeCabinet"
+        },
+        "cab_corner_main_group_3": {
+            "cls": "Box"
+        },
+        "dining_dining_area_group": {
+            "cls": "Counter"
+        },
+        "box_dining_area_group": {
+            "cls": "Box"
+        },
+        "stack_1_dining_area_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_dining_area_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_dining_area_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_dining_area_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_dining_area_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_dining_area_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_dining_area_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_dining_area_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_3_dining_area_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_dining_area_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_dining_area_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_dining_area_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_dining_area_group_4": {
+            "cls": "Drawer"
+        },
+        "stand_mixer_dining_area_group": {
+            "cls": "StandMixer"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the cake in the stand mixer bowl.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
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+                1.15
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+                -0.6775092
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+            "parent_body": "mobilebase0_support"
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+        "robot0_agentview_right": {
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+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
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+                0,
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+            "parent_body": "robot0_right_hand"
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+    "init_robot_base_pos": [
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+        -1.57079623937212
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+}

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

@@ -0,0 +1,404 @@
+{
+    "layout_id": 19,
+    "style_id": 32,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "cheese",
+                "bread",
+                "cake"
+            ],
+            "graspable": true,
+            "placement": {
+                "fixture": "dining_dining_area_group",
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+                    "ref": "stand_mixer_dining_area_group",
+                    "loc": "left_right",
+                    "min_size": [
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+                    -1.0
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+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "cheese",
+                    "bread",
+                    "cake"
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+                "cat": "bread",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_19/model.xml"
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+            }
+        }
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+    "fixtures": {
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_1_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
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+        "stool_2_room": {
+            "cls": "Stool"
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+        },
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+        "stack_1_left_group_1_1": {
+            "cls": "HingeCabinet"
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+        "stack_1_left_group_1_2": {
+            "cls": "Drawer"
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+            "cls": "Drawer"
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+            "cls": "Box"
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+        "stack_2_left_group_1_2": {
+            "cls": "PanelCabinet"
+        },
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+            "cls": "Box"
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+        "stack_3_left_group_1_1": {
+            "cls": "HingeCabinet"
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+        "stack_3_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_1_3": {
+            "cls": "Drawer"
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+        "cab_1_left_group_1": {
+            "cls": "HingeCabinet"
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+            "cls": "HingeCabinet"
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+        "cab_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "bottom_left_group_1_base": {
+            "cls": "Box"
+        },
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+            "cls": "Drawer"
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+        "middle_1_left_group_1": {
+            "cls": "HingeCabinet"
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+        "middle_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "top_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_oven_left_group_1": {
+            "cls": "ToasterOven"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group_1": {
+            "cls": "Counter"
+        },
+        "box_1_right_group_1": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "dishwasher_1_right_group_1": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "box_2_right_group_1": {
+            "cls": "Box"
+        },
+        "cab_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "paper_towel_right_group_1": {
+            "cls": "Accessory"
+        },
+        "counter_corner_1_main_group_3": {
+            "cls": "Counter"
+        },
+        "stove_main_group_3": {
+            "cls": "Stove"
+        },
+        "fridge_1_main_group_3": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "fridge_1_housing_main_group_3": {
+            "cls": "HousingCabinet"
+        },
+        "top_1_main_group_3": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group_3": {
+            "cls": "OpenCabinet"
+        },
+        "microwave_main_group_3": {
+            "cls": "Microwave"
+        },
+        "cab_micro_main_group_3": {
+            "cls": "HingeCabinet"
+        },
+        "cab_corner_main_group_3": {
+            "cls": "Box"
+        },
+        "dining_dining_area_group": {
+            "cls": "Counter"
+        },
+        "box_dining_area_group": {
+            "cls": "Box"
+        },
+        "stack_1_dining_area_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_dining_area_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_dining_area_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_dining_area_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_dining_area_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_dining_area_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_dining_area_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_dining_area_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_3_dining_area_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_dining_area_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_dining_area_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_dining_area_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_dining_area_group_4": {
+            "cls": "Drawer"
+        },
+        "stand_mixer_dining_area_group": {
+            "cls": "StandMixer"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the bread in the stand mixer bowl.",
+    "fixture_refs": {},
+    "cam_configs": {
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+            "parent_body": "mobilebase0_support"
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+        "robot0_eye_in_hand": {
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+            "quat": [
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+                0.707107,
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+            "parent_body": "robot0_right_hand"
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+        2.5905204177993113,
+        -2.4533142591802,
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+    "init_robot_base_ori": [
+        0.0,
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+        -1.57079623937212
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+}

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

@@ -0,0 +1,459 @@
+{
+    "layout_id": 24,
+    "style_id": 24,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "cheese",
+                "bread",
+                "cake"
+            ],
+            "graspable": true,
+            "placement": {
+                "fixture": "island_island_group_1",
+                "sample_region_kwargs": {
+                    "ref": "stand_mixer_island_group_1",
+                    "loc": "left_right",
+                    "min_size": [
+                        0.10900347562694279,
+                        0.0921648817046346,
+                        0.059641815869999996
+                    ]
+                },
+                "size": [
+                    0.3,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "cheese",
+                    "dairy",
+                    "food",
+                    "in_container",
+                    "food_set1"
+                ],
+                "groups": [
+                    "cheese",
+                    "bread",
+                    "cake"
+                ],
+                "cat": "cheese",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cheese/cheese_2/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.6473926901196687,
+                    1.95
+                ],
+                "offset": [
+                    -0.6410720431437865,
+                    2.0816681711721685e-17,
+                    0.46
+                ],
+                "name": "geom_1"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_5_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_6_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "window_group_2_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_2_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "dishwasher_main_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_5": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_6": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_7_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_7_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_7_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_7_main_group_3": {
+            "cls": "Drawer"
+        },
+        "wall_stack_main_group_base": {
+            "cls": "Box"
+        },
+        "wall_stack_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "wall_stack_main_group_2": {
+            "cls": "HingeCabinet"
+        },
+        "hood_main_group": {
+            "cls": "Hood"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_4_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_5_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_6_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "bottom_right_group_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_cabinet_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "sink_1_island_group_1": {
+            "cls": "Sink"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "box_island_group_1": {
+            "cls": "Box"
+        },
+        "panel_box_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "panel_box_1_island_group_1_1": {
+            "cls": "PanelCabinet"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_island_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_4_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_5_island_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_5_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_island_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stand_mixer_island_group_1": {
+            "cls": "StandMixer"
+        },
+        "plant_island_group_1": {
+            "cls": "Accessory"
+        },
+        "stack_1_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_2_1": {
+            "cls": "SingleCabinet"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the cheese in the stand mixer bowl.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
+            ],
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_left": {
+            "pos": [
+                -0.5,
+                0.35,
+                1.05
+            ],
+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
+            ],
+            "quat": [
+                0.6775091886520386,
+                0.3767866790294647,
+                -0.2993525564670563,
+                -0.55623859167099
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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": [
+        4.397944982107816,
+        -1.7424617156441444,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        4.712388892961913
+    ]
+}

pretrain/atomic/PickPlaceCounterToStandMixer/20250820/lerobot/extras/episode_000091/ep_meta.json

@@ -0,0 +1,420 @@
+{
+    "layout_id": 26,
+    "style_id": 40,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "cheese",
+                "bread",
+                "cake"
+            ],
+            "graspable": true,
+            "placement": {
+                "fixture": "island_island_group",
+                "sample_region_kwargs": {
+                    "ref": "stand_mixer_island_group",
+                    "loc": "left_right",
+                    "min_size": [
+                        0.10900347562694279,
+                        0.0921648817046346,
+                        0.059641815869999996
+                    ]
+                },
+                "size": [
+                    0.3,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "cheese",
+                    "dairy",
+                    "food",
+                    "in_container",
+                    "food_set1"
+                ],
+                "groups": [
+                    "cheese",
+                    "bread",
+                    "cake"
+                ],
+                "cat": "cheese",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cheese/cheese_2/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.6086655762886164,
+                    0.6
+                ],
+                "offset": [
+                    -0.6896672118556918,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_room": {
+            "cls": "Wall"
+        },
+        "wall_main_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_4_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "window_group_2_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_1_main_group": {
+            "cls": "Counter"
+        },
+        "stove_main_group": {
+            "cls": "Stove"
+        },
+        "counter_2_main_group": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_main_group_2": {
+            "cls": "Drawer"
+        },
+        "fridge_main_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_main_group": {
+            "cls": "HousingCabinet"
+        },
+        "stack_4_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_3": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_main_group_4": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_main_group": {
+            "cls": "Microwave"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "OpenCabinet"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "sink_1_front_group": {
+            "cls": "Sink"
+        },
+        "counter_1_front_group": {
+            "cls": "Counter"
+        },
+        "box_front_group": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_front_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_front_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_front_group_2": {
+            "cls": "Drawer"
+        },
+        "cab_1_front_group": {
+            "cls": "HingeCabinet"
+        },
+        "counter_corner_right_group": {
+            "cls": "Counter"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "box_right_group": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_3": {
+            "cls": "Drawer"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group": {
+            "cls": "Toaster"
+        },
+        "paper_towel_right_group": {
+            "cls": "Accessory"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "box_1_island_group": {
+            "cls": "Box"
+        },
+        "box_2_island_group": {
+            "cls": "Box"
+        },
+        "stand_mixer_island_group": {
+            "cls": "StandMixer"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the cheese in the stand mixer bowl.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
+            ],
+            "quat": [
+                0.636945903301239,
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+}

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

@@ -0,0 +1,449 @@
+{
+    "layout_id": 23,
+    "style_id": 45,
+    "object_cfgs": [
+        {
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+            "obj_groups": [
+                "cheese",
+                "bread",
+                "cake"
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+            "placement": {
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+                    "all",
+                    "cake",
+                    "sweets",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "cheese",
+                    "bread",
+                    "cake"
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+                "cat": "cake",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cake/cake_1/model.xml"
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+            "cls": "Wall"
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+        "wall_left_1_backing_room": {
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+        "wall_main_backing_room": {
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+        "wall_right_1_backing_room": {
+            "cls": "Wall"
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+        "floor_1_room": {
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+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
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+            "cls": "WallAccessory"
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+        "wall_accessory_4_room": {
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+        "wall_accessory_6_room": {
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+        "stack_1_left_group_1": {
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+        "stack_1_left_group_3": {
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+        "stack_2_left_group_1": {
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+        "box_left_group": {
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+        "cab_1_left_group": {
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+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
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+        "toaster_left_group": {
+            "cls": "Toaster"
+        },
+        "counter_1_right_group": {
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+        "box_right_group": {
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+        "stack_1_right_group_base": {
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+            "cls": "SingleCabinet"
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+        "stack_3_right_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_2": {
+            "cls": "Drawer"
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+        "bottom_right_group_1": {
+            "cls": "HingeCabinet"
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+        "bottom_right_group_2": {
+            "cls": "Drawer"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
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+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
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+        },
+        "stand_mixer_right_group": {
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+        "island_1_island_group": {
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+}

pretrain/atomic/PickPlaceCounterToStandMixer/20250820/lerobot/extras/episode_000094/ep_meta.json

@@ -0,0 +1,392 @@
+{
+    "layout_id": 45,
+    "style_id": 33,
+    "object_cfgs": [
+        {
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+            "obj_groups": [
+                "cheese",
+                "bread",
+                "cake"
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+            "placement": {
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+                    -1.0
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+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "cake",
+                    "sweets",
+                    "food",
+                    "in_container"
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+                "groups": [
+                    "cheese",
+                    "bread",
+                    "cake"
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+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cake/cake_5/model.xml"
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+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
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+        "knife_block_main_group_1": {
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+        "paper_towel_main_group_1": {
+            "cls": "Accessory"
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+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "stove_right_group_1": {
+            "cls": "Stove"
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+        "microwave_right_group_1": {
+            "cls": "Microwave"
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+        "micro_cab_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "counter_2_right_group_1": {
+            "cls": "Counter"
+        },
+        "fridgesidebyside_right_group_1": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridgesidebyside_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_5_right_group_1": {
+            "cls": "HingeCabinet"
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+        "hingecabinet_4_right_group_1": {
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+            "cls": "HingeCabinet"
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+            "cls": "Toaster"
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+            "cls": "Box"
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+        "stack_2_right_group_1_1": {
+            "cls": "HingeCabinet"
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+        "stack_2_right_group_1_2": {
+            "cls": "Drawer"
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+            "cls": "Box"
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+        "stack_3_right_group_1_1": {
+            "cls": "HingeCabinet"
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+        "stack_3_right_group_1_2": {
+            "cls": "Drawer"
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+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "cube_island_group_1": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
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+        "stack_1_island_group_1_2": {
+            "cls": "Drawer"
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+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_1_base": {
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+        },
+        "stack_3_island_group_1_1": {
+            "cls": "HingeCabinet"
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+        "stack_3_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "panelbox_2_island_group_1_base": {
+            "cls": "Box"
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+        "panelbox_2_island_group_1_1": {
+            "cls": "PanelCabinet"
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+        "panelbox_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "panelbox_1_island_group_1_1": {
+            "cls": "PanelCabinet"
+        },
+        "stand_mixer_island_group_1": {
+            "cls": "StandMixer"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the cake in the stand mixer bowl.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
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+        "robot0_agentview_right": {
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+        },
+        "robot0_eye_in_hand": {
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+                0
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+                0,
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+                0.707107,
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+            "parent_body": "robot0_right_hand"
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+    "init_robot_base_pos": [
+        2.8421309033548288,
+        -3.1965593455821373,
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+        3.14159329371052
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+}

pretrain/atomic/PickPlaceCounterToStandMixer/20250820/lerobot/extras/episode_000095/ep_meta.json

@@ -0,0 +1,366 @@
+{
+    "layout_id": 41,
+    "style_id": 31,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "cheese",
+                "bread",
+                "cake"
+            ],
+            "graspable": true,
+            "placement": {
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+                    -1.0
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+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "cheese",
+                    "dairy",
+                    "food",
+                    "in_container",
+                    "food_set1"
+                ],
+                "groups": [
+                    "cheese",
+                    "bread",
+                    "cake"
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+                "cat": "cheese",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cheese/cheese_2/model.xml"
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+        },
+        "wall_main_1_backing_room": {
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+            "cls": "Wall"
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+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_backing_room": {
+            "cls": "Wall"
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+        "wall_right_3_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_backing_room": {
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+        },
+        "floor_1_room": {
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+        "floor_1_backing_room": {
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+        "lightswitch_room": {
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+        "wallaccessory.003_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory.001_room": {
+            "cls": "WallAccessory"
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+            "cls": "PanelCabinet"
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+        "cube_1_main_group_1": {
+            "cls": "Box"
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+        "dishwasher_1_main_group_1": {
+            "cls": "Dishwasher"
+        },
+        "bottom_main_group_1_base": {
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+        "bottom_main_group_1_1": {
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+        "microwave_main_group_1": {
+            "cls": "Microwave"
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+        "fridgesidebyside_main_group_1": {
+            "cls": "FridgeSideBySide"
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+        "fridgesidebyside_housing_main_group_1": {
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+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_housing_main_group_1": {
+            "cls": "HousingCabinet"
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+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
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+        "knife_block_main_group_1": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "counter_2_right_group_1": {
+            "cls": "Counter"
+        },
+        "stove_right_group_1": {
+            "cls": "Stove"
+        },
+        "stove_hood_right_group_1": {
+            "cls": "Hood"
+        },
+        "singlecabinet_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_right_group_1_base": {
+            "cls": "Box"
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+        "stack_2_right_group_1_1": {
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+            "cls": "Drawer"
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+            "cls": "Drawer"
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+            "cls": "SingleCabinet"
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+            "cls": "Box"
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+            "cls": "SingleCabinet"
+        },
+        "stand_mixer_island_group_2": {
+            "cls": "StandMixer"
+        },
+        "paper_towel_island_group_2": {
+            "cls": "Accessory"
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+    "lang": "Place the cheese in the stand mixer bowl.",
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+}

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

@@ -0,0 +1,455 @@
+{
+    "layout_id": 43,
+    "style_id": 12,
+    "object_cfgs": [
+        {
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+            "obj_groups": [
+                "cheese",
+                "bread",
+                "cake"
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+            "placement": {
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+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "cake",
+                    "sweets",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "cheese",
+                    "bread",
+                    "cake"
+                ],
+                "cat": "cake",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cake/cake_5/model.xml"
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+            "cls": "Wall"
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+        "wall_main_1_backing_room": {
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+        "wall_right_1_room": {
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+        "wall_right_1_backing_room": {
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+        "wall_left_1_room": {
+            "cls": "Wall"
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+        "wall_left_1_backing_room": {
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+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
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+        "wall_left_2_room": {
+            "cls": "Wall"
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+        "wall_right_2_room": {
+            "cls": "Wall"
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+        "wall_main_3_room": {
+            "cls": "Wall"
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+        "floor_1_room": {
+            "cls": "Floor"
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+        "floor_1_backing_room": {
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+        "floor_1.001_room": {
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+        "wallaccessory.001_room": {
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+        "wallaccessory.005_room": {
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+        "wallaccessory.003_room": {
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+        "hingecabinet_1_main_group_1": {
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+        "cube_1_main_group_1": {
+            "cls": "Box"
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+            "cls": "CoffeeMachine"
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+        "toaster_main_group_1": {
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+        "stack_2_front_group_1_1": {
+            "cls": "SingleCabinet"
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+        "stand_mixer_front_group_1": {
+            "cls": "StandMixer"
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+        "singlecabinet_1_right_group_1": {
+            "cls": "SingleCabinet"
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+        "hingecabinet_1_right_group_1": {
+            "cls": "HingeCabinet"
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+        "opencabinet_1_right_group_1": {
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+            "cls": "Box"
+        },
+        "stack_1_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_1_3": {
+            "cls": "Drawer"
+        },
+        "fridgesidebyside_right_group_1": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridgesidebyside_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "bottom_right_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "microwave_right_group_1": {
+            "cls": "Microwave"
+        },
+        "singlecabinet_3_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "oven_cabinet_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "singlecabinet_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "top_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_oven_right_group_1": {
+            "cls": "ToasterOven"
+        },
+        "sink_left_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_1_left_group_1": {
+            "cls": "Counter"
+        },
+        "counter_2_left_group_1": {
+            "cls": "Counter"
+        },
+        "singlecabinet_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "hingecabinet_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_1_left_group_1": {
+            "cls": "Dishwasher"
+        },
+        "cube_3_left_group_1": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_1_3": {
+            "cls": "Drawer"
+        },
+        "cube_2_left_group_1": {
+            "cls": "Box"
+        },
+        "cube_1_left_group_1": {
+            "cls": "Box"
+        },
+        "knife_block_left_group_1": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the cake in the stand mixer bowl.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
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+                1.15
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+        "robot0_eye_in_hand": {
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+    "init_robot_base_pos": [
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+}

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

@@ -0,0 +1,563 @@
+{
+    "layout_id": 39,
+    "style_id": 27,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "cheese",
+                "bread",
+                "cake"
+            ],
+            "graspable": true,
+            "placement": {
+                "fixture": "counter_1_main_group_1",
+                "sample_region_kwargs": {
+                    "ref": "stand_mixer_main_group_1",
+                    "loc": "left_right",
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+                        0.07907211679999998,
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+                "pos": [
+                    "ref",
+                    -1.0
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+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "cake",
+                    "sweets",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "cheese",
+                    "bread",
+                    "cake"
+                ],
+                "cat": "cake",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cake/cake_3/model.xml"
+            },
+            "reset_region": {
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+                    0.46
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+                "name": "geom_1"
+            }
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+    "fixtures": {
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+            "cls": "Wall"
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+        "wall_main_1_backing_room": {
+            "cls": "Wall"
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+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
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+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_room": {
+            "cls": "Wall"
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+        "wall_right_2_backing_room": {
+            "cls": "Wall"
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+        "wall_front_1_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_backing_room": {
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+        "wall_front_5_room": {
+            "cls": "Wall"
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+        "wall_front_5_backing_room": {
+            "cls": "Wall"
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+        "wall_right_5_room": {
+            "cls": "Wall"
+        },
+        "wall_right_5_backing_room": {
+            "cls": "Wall"
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+        "wall_front_4_room": {
+            "cls": "Wall"
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+        "wall_front_4_backing_room": {
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+        "wall_right_4_room": {
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+        "wall_right_4_backing_room": {
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+        "wall_right_3_room": {
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+        "wall_right_3_backing_room": {
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+        "wall_front_3_room": {
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+        "wall_front_2_backing_room": {
+            "cls": "Wall"
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+        "wall_front_6_room": {
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+        "wall_front_6_backing_room": {
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+        "wall_front_7_room": {
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+        "wall_front_7_backing_room": {
+            "cls": "Wall"
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+        "floor_1_room": {
+            "cls": "Floor"
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+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
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+        "floor_3_room": {
+            "cls": "Floor"
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+        "floor_3_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_5_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_6.001_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "sink_main_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "fridgefrenchdoor_main_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_5_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_4_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_2_main_group_1": {
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+        },
+        "singlecabinet_3_main_group_1": {
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+        "stack_1_main_group_1_base": {
+            "cls": "Box"
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+        "stack_1_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_1_base": {
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+        },
+        "stack_2_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_main_group_1_2": {
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+        "stack_3_main_group_1_base": {
+            "cls": "Box"
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+        "stack_3_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_1_main_group_1": {
+            "cls": "Box"
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+        "stack_5_main_group_1_base": {
+            "cls": "Box"
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+        "stack_5_main_group_1_1": {
+            "cls": "SingleCabinet"
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+        "stack_5_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_7_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_7_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_7_main_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "dishwasher_1_main_group_1": {
+            "cls": "Dishwasher"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "knifeblock_main_group_1": {
+            "cls": "Accessory"
+        },
+        "papertowel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "stand_mixer_main_group_1": {
+            "cls": "StandMixer"
+        },
+        "stovetop_island_group_1": {
+            "cls": "Stovetop"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_island_group_1_2": {
+            "cls": "Drawer"
+        },
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+            "cls": "Box"
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+        "stack_2_island_group_1_1": {
+            "cls": "SingleCabinet"
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+        "stack_2_island_group_1_2": {
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+            "cls": "SingleCabinet"
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+        "stack_4_island_group_1_2": {
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+        "stack_5_island_group_2.001_base": {
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+            "cls": "SingleCabinet"
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+        "stack_6_island_group_2.001_base": {
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+        "stack_7_island_group_2.001_1": {
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+        "stack_8_island_group_2.001_base": {
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+        },
+        "stack_8_island_group_2.001_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_8_island_group_2.001_2": {
+            "cls": "Drawer"
+        },
+        "counter_1_front_group_1": {
+            "cls": "Counter"
+        },
+        "hingecabinet_2_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_front_group_1_2": {
+            "cls": "Drawer"
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+        "stack_2_front_group_1_base": {
+            "cls": "Box"
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+        "stack_2_front_group_1_1": {
+            "cls": "SingleCabinet"
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+        "stack_2_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_front_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_front_group_1_base": {
+            "cls": "Box"
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+        "stack_4_front_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_5_front_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_5_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_front_group_1_3": {
+            "cls": "Drawer"
+        },
+        "bottom_front_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_front_group_1_1": {
+            "cls": "Drawer"
+        },
+        "oven_front_group_1": {
+            "cls": "Oven"
+        },
+        "oven_housing_front_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "microwave_front_group_1": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_front_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_front_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "coffeemachine_front_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_oven_front_group_1": {
+            "cls": "ToasterOven"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the cake in the stand mixer bowl.",
+    "fixture_refs": {},
+    "cam_configs": {
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+        "robot0_eye_in_hand": {
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+    "init_robot_base_pos": [
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+    "init_robot_base_ori": [
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+        1.5707963267948966
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+}

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

@@ -0,0 +1,371 @@
+{
+    "layout_id": 36,
+    "style_id": 28,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "cheese",
+                "bread",
+                "cake"
+            ],
+            "graspable": true,
+            "placement": {
+                "fixture": "counter_1_left_group_1",
+                "sample_region_kwargs": {
+                    "ref": "stand_mixer_left_group_1",
+                    "loc": "left_right",
+                    "min_size": [
+                        0.08252690495999998,
+                        0.09592070783999997,
+                        0.03860648447999998
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+                "size": [
+                    0.3,
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+                    "all",
+                    "cake",
+                    "sweets",
+                    "food",
+                    "in_container"
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+                    "cheese",
+                    "bread",
+                    "cake"
+                ],
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+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cake/cake_4/model.xml"
+            },
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+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
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+            "cls": "Wall"
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+        "wall_main_1_backing_room": {
+            "cls": "Wall"
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+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
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+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
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+        "wall_left_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_front_1_room": {
+            "cls": "Wall"
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+        "wall_front_1_backing_room": {
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+        "wall_left_3_backing_room": {
+            "cls": "Wall"
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+            "cls": "Wall"
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+            "cls": "Wall"
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+        "wall_right_2_room": {
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+        "wall_right_2_backing_room": {
+            "cls": "Wall"
+        },
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+            "cls": "Floor"
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+            "cls": "Floor"
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+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
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+            "cls": "WallAccessory"
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+        "wallaccessory.003_room": {
+            "cls": "WallAccessory"
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+        "window_group_room": {
+            "cls": "Window"
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+        "counter_1_front_group_1": {
+            "cls": "Counter"
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+        "fridgefrenchdoor_housing_front_group_1": {
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+        },
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+            "cls": "Drawer"
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+        "cube_2_front_group_1": {
+            "cls": "Box"
+        },
+        "cube_1_front_group_1": {
+            "cls": "Box"
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+        "papertowel_front_group_1": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "counter_2_right_group_1": {
+            "cls": "Counter"
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+        "stove_right_group_1": {
+            "cls": "Stove"
+        },
+        "microwave_right_group_1": {
+            "cls": "Microwave"
+        },
+        "micro_cab_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "plant_right_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_right_group_1": {
+            "cls": "ToasterOven"
+        },
+        "sink_left_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group_1": {
+            "cls": "Counter"
+        },
+        "hingecabinet_1_left_group_1": {
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+        "stack_1_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1_1": {
+            "cls": "SingleCabinet"
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+        "stack_1_left_group_1_2": {
+            "cls": "Drawer"
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+        "cube_1_left_group_1": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1_base": {
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+        "stack_2_left_group_1_1": {
+            "cls": "HingeCabinet"
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+        "stack_2_left_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "dishwasher_1_left_group_1": {
+            "cls": "Dishwasher"
+        },
+        "coffee_machine_left_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "stand_mixer_left_group_1": {
+            "cls": "StandMixer"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the cake in the stand mixer bowl.",
+    "fixture_refs": {},
+    "cam_configs": {
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+        "robot0_eye_in_hand": {
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+                0,
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+    "init_robot_base_pos": [
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+    "init_robot_base_ori": [
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+        3.1415924507432367
+    ]
+}

pretrain/atomic/PickPlaceCounterToStandMixer/20250820/lerobot/extras/episode_000102/ep_meta.json

@@ -0,0 +1,413 @@
+{
+    "layout_id": 21,
+    "style_id": 21,
+    "object_cfgs": [
+        {
+            "name": "obj",
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+                "cheese",
+                "bread",
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+            "placement": {
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+                    "all",
+                    "bread",
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+                    "food",
+                    "in_container"
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+                "groups": [
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+                    "bread",
+                    "cake"
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+                "cat": "bread",
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+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_19/model.xml"
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+            "cls": "Wall"
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+        "wall_main_1_backing_room": {
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+        "wall_right_1_room": {
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+        },
+        "wall_right_1_backing_room": {
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+        },
+        "wall_front_1_room": {
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+        "wall_front_1_backing_room": {
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+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
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+            "cls": "Stove"
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+            "cls": "Drawer"
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+        "stack_2_left_group_2": {
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+        },
+        "box_left_group": {
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+        },
+        "fridge_left_group": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
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+            "cls": "Box"
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+        "cab_4_left_group": {
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+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
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+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
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+            "cls": "Counter"
+        },
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+            "cls": "Drawer"
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+            "cls": "Box"
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+            "cls": "SingleCabinet"
+        },
+        "cab_1_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_right_group": {
+            "cls": "Microwave"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_island_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_island_group_2": {
+            "cls": "Drawer"
+        },
+        "stand_mixer_island_group": {
+            "cls": "StandMixer"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the bread in the stand mixer bowl.",
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+}

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

@@ -0,0 +1,432 @@
+{
+    "layout_id": 16,
+    "style_id": 23,
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+            "obj_groups": [
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+                    "dairy",
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+                "groups": [
+                    "cheese",
+                    "bread",
+                    "cake"
+                ],
+                "cat": "cheese",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cheese/cheese_0/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    1.152780007940525,
+                    0.976
+                ],
+                "offset": [
+                    -0.8386099960297375,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_left_3_room": {
+            "cls": "Wall"
+        },
+        "wall_left_3_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_room": {
+            "cls": "Wall"
+        },
+        "wall_main_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_4_room": {
+            "cls": "Wall"
+        },
+        "wall_left_4_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_5_room": {
+            "cls": "Wall"
+        },
+        "wall_left_5_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_room": {
+            "cls": "Wall"
+        },
+        "wall_right_3_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_4_room": {
+            "cls": "Wall"
+        },
+        "wall_right_4_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "floor_2_room": {
+            "cls": "Floor"
+        },
+        "floor_2_backing_room": {
+            "cls": "Floor"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_1_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "stove_main_group_1": {
+            "cls": "Stove"
+        },
+        "counter_corner_main_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "fridge_1_main_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_1_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_corner_main_group_1": {
+            "cls": "Box"
+        },
+        "microwave_main_group_1": {
+            "cls": "Microwave"
+        },
+        "cab_2_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "paper_towel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "sink_1_right_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "box_1_right_group_1": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_right_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_right_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_4_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_right_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_5_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_5_right_group_1_3": {
+            "cls": "Drawer"
+        },
+        "dishwasher_right_group_1": {
+            "cls": "Dishwasher"
+        },
+        "panel_stack_right_group_1_base": {
+            "cls": "Box"
+        },
+        "panel_stack_right_group_1_1": {
+            "cls": "PanelCabinet"
+        },
+        "cab_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_oven_right_group_1": {
+            "cls": "ToasterOven"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_island_group_2": {
+            "cls": "Drawer"
+        },
+        "box_1_island_group": {
+            "cls": "Box"
+        },
+        "box_2_island_group": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_2": {
+            "cls": "Drawer"
+        },
+        "stand_mixer_island_group": {
+            "cls": "StandMixer"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the cheese in the stand mixer bowl.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
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+                0.3325185477733612,
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+        },
+        "robot0_agentview_left": {
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+                0.35,
+                1.05
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+            "quat": [
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+                0.29935253,
+                -0.37678665,
+                -0.6775092
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+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
+            "pos": [
+                -0.5,
+                -0.35,
+                1.05
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+                0.3767866790294647,
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+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
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+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        0.7969205790191376,
+        -3.894006189629546,
+        0.0
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+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.14159245077386
+    ]
+}

pretrain/atomic/PickPlaceCounterToStandMixer/20250820/lerobot/extras/episode_000105/ep_meta.json

@@ -0,0 +1,425 @@
+{
+    "layout_id": 13,
+    "style_id": 48,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "cheese",
+                "bread",
+                "cake"
+            ],
+            "graspable": true,
+            "placement": {
+                "fixture": "counter_1_main_group_1",
+                "sample_region_kwargs": {
+                    "ref": "stand_mixer_main_group_1",
+                    "loc": "left_right",
+                    "min_size": [
+                        0.05550316911999999,
+                        0.05414003839999999,
+                        0.029310765119999995
+                    ]
+                },
+                "size": [
+                    0.3,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "cake",
+                    "sweets",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "cheese",
+                    "bread",
+                    "cake"
+                ],
+                "cat": "cake",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/cake/cake_0/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.8539142622812583,
+                    0.65
+                ],
+                "offset": [
+                    -1.2755428688593708,
+                    -3.469446951953614e-17,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_room": {
+            "cls": "Wall"
+        },
+        "wall_main_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_5_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_6_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "sink_1_main_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_2_main_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "box_1_main_group_1": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_1_main_group_1": {
+            "cls": "Dishwasher"
+        },
+        "box_2_main_group_1": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cab_corner_main_group_1": {
+            "cls": "Box"
+        },
+        "cab_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_main_group_1": {
+            "cls": "OpenCabinet"
+        },
+        "plant_main_group_1": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "stand_mixer_main_group_1": {
+            "cls": "StandMixer"
+        },
+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "counter_1_left_group_1": {
+            "cls": "Counter"
+        },
+        "stove_left_group_1": {
+            "cls": "Stove"
+        },
+        "counter_2_left_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1_1": {
+            "cls": "PanelCabinet"
+        },
+        "stack_2_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "box_left_group_1": {
+            "cls": "Box"
+        },
+        "hood_left_group_1": {
+            "cls": "Hood"
+        },
+        "cab_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_left_group_1": {
+            "cls": "OpenCabinet"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "box_right_group_1": {
+            "cls": "Box"
+        },
+        "microwave_right_group_1": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "fridge_1_right_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_1_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "toaster_oven_right_group_1": {
+            "cls": "ToasterOven"
+        },
+        "dining_front_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_front_group_1": {
+            "cls": "Counter"
+        },
+        "cube_front_group_1": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_front_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_front_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_front_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_front_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_front_group_1_3": {
+            "cls": "Drawer"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the cake in the stand mixer bowl.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
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+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
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+            "quat": [
+                0,
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+                0.707107,
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+            "parent_body": "robot0_right_hand"
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+        1.739315727422507,
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+}

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

@@ -0,0 +1,455 @@
+{
+    "layout_id": 56,
+    "style_id": 34,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": [
+                "cheese",
+                "bread",
+                "cake"
+            ],
+            "graspable": true,
+            "placement": {
+                "fixture": "counter_8_right_group_1",
+                "sample_region_kwargs": {
+                    "ref": "stand_mixer_right_group_1",
+                    "loc": "left_right",
+                    "min_size": [
+                        0.05318319076000001,
+                        0.09707054252000001,
+                        0.07255429020000001
+                    ]
+                },
+                "size": [
+                    0.3,
+                    0.3
+                ],
+                "pos": [
+                    "ref",
+                    -1.0
+                ]
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "bread",
+                    "bread_food",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "cheese",
+                    "bread",
+                    "cake"
+                ],
+                "cat": "bread",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bread/bread_1/model.xml"
+            },
+            "reset_region": {
+                "size": [
+                    0.5663397133374609,
+                    0.65
+                ],
+                "offset": [
+                    -0.2908261433312695,
+                    0.0,
+                    0.46
+                ],
+                "name": "geom_0"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_02_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_03_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stack_13_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_13_island_group_2_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_04_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_04_island_group_2_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_12_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_12_island_group_2_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "hingecabinet_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_4_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "opencabinet_2_main_group_1": {
+            "cls": "OpenCabinet"
+        },
+        "opencabinet_3_main_group_1": {
+            "cls": "OpenCabinet"
+        },
+        "counter_2_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_3_main_group_1": {
+            "cls": "Counter"
+        },
+        "stove_main_group_1": {
+            "cls": "Stove"
+        },
+        "stove_hood_main_group_1": {
+            "cls": "Hood"
+        },
+        "cube_4_main_group_1": {
+            "cls": "Box"
+        },
+        "stack_11_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_11_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_03_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_03_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_03_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_02_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_02_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_04_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_04_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_04_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_04_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_08_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_08_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_08_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_06_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_06_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_07_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_07_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_07_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_07_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "cube_8_main_group_1": {
+            "cls": "Box"
+        },
+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "papertowel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "plant_main_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group_1": {
+            "cls": "ToasterOven"
+        },
+        "singlecabinet_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "hingecabinet_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_9_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "counter_8_right_group_1": {
+            "cls": "Counter"
+        },
+        "stack_6_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_6_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_right_group_1_2": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_11_right_group_1": {
+            "cls": "Box"
+        },
+        "stack_7_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_7_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_7_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_12_right_group_1": {
+            "cls": "Box"
+        },
+        "fridgefrenchdoor_right_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "bottom_right_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "oven_cabinet_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_right_group_1": {
+            "cls": "Microwave"
+        },
+        "microwave_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "stand_mixer_right_group_1": {
+            "cls": "StandMixer"
+        },
+        "sink_island_group_1": {
+            "cls": "Sink"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "stack_11_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_11_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_11_island_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_09_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_09_island_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_09_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_09_island_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_10_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_10_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_10_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "dishwasher_1_island_group_1": {
+            "cls": "Dishwasher"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_island_group_1": {
+            "cls": "Box"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Place the bread in the stand mixer bowl.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
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+                0.0,
+                1.15
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+            "parent_body": "mobilebase0_support"
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+        "robot0_agentview_left": {
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+                -0.5,
+                0.35,
+                1.05
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+            "quat": [
+                0.55623853,
+                0.29935253,
+                -0.37678665,
+                -0.6775092
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+            "camera_attribs": {
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+            "parent_body": "mobilebase0_support"
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+        "robot0_agentview_right": {
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+            "parent_body": "mobilebase0_support"
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+                0,
+                0.95
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+                0.707107,
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+            "parent_body": "robot0_right_hand"
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+    "init_robot_base_pos": [
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+        -4.610435171206975,
+        0.0
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+    "init_robot_base_ori": [
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+        -0.0001655254467980427
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+}