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pretrain/atomic/OpenFridge/20250819/lerobot/extras/episode_000006/ep_meta.json

@@ -0,0 +1,396 @@
+{
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+    "style_id": 23,
+    "object_cfgs": [
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+            "placement": {
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+                    "all",
+                    "turkey_slice"
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+                "groups": [
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+                "cat": "turkey_slice",
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+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/turkey_slice/TurkeySlice002/model.xml"
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+            }
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+        {
+            "name": "distr_counter_1",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "counter_1_main_group_1",
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+            "type": "object",
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+                    "orange",
+                    "fruit",
+                    "food",
+                    "in_container",
+                    "food_set1"
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+                    "all"
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+                "cat": "orange",
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+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/orange/orange_0/model.xml"
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+            "cls": "Floor"
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+        "dishwasher_1_main_group_1": {
+            "cls": "Dishwasher"
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+        "fridgesidebyside_main_group_1": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridgesidebyside_housing_main_group_1": {
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+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
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+        "papertowel_main_group_1": {
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+            "cls": "Stove"
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+        "counter_2_left_group_1": {
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+        "singlecabinet_1_left_group_1": {
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+            "cls": "CoffeeMachine"
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+            "cls": "Box"
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+        "cube_4_island_group_1": {
+            "cls": "Box"
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+    "gen_textures": {},
+    "lang": "Open the fridge door.",
+    "fixture_refs": {
+        "fxtr": "fridgesidebyside_main_group_1"
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+}

pretrain/atomic/OpenFridge/20250819/lerobot/extras/episode_000017/ep_meta.json

@@ -0,0 +1,488 @@
+{
+    "layout_id": 30,
+    "style_id": 19,
+    "object_cfgs": [
+        {
+            "name": "door_obj",
+            "obj_groups": "all",
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+            "placement": {
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+                "pos": [
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+                    -1.0
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+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "cream_cheese_stick",
+                    "dairy",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "all"
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+                "cat": "cream_cheese_stick",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/cream_cheese_stick/CreamCheeseStick002/model.xml"
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+                "name": "fridge_shelf1"
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+        },
+        {
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+            "obj_groups": "all",
+            "placement": {
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+            "type": "object",
+            "info": {
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+                    "boxed_food",
+                    "packaged_food"
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+                ],
+                "cat": "boxed_food",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/boxed_food/boxed_food_11/model.xml"
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+        },
+        {
+            "name": "distr_counter_2",
+            "obj_groups": "all",
+            "placement": {
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+            "type": "object",
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+                    "bottled_drink",
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+                    "all"
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+                "cat": "bottled_drink",
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+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bottled_drink/bottled_drink_2/model.xml"
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+        }
+    ],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_room": {
+            "cls": "Wall"
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+        "wall_left_1_backing_room": {
+            "cls": "Wall"
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+        "wall_right_1_room": {
+            "cls": "Wall"
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+        "wall_right_1_backing_room": {
+            "cls": "Wall"
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+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
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+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_1_room": {
+            "cls": "WallAccessory"
+        },
+        "ligh_switch_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_3_room": {
+            "cls": "WallAccessory"
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+        "light_switch_4_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_5_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_1_room": {
+            "cls": "Window"
+        },
+        "window_group_2_room": {
+            "cls": "Window"
+        },
+        "window_group_3_room": {
+            "cls": "Window"
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+        "stool_1_room": {
+            "cls": "Stool"
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+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_1_left_group": {
+            "cls": "Counter"
+        },
+        "stove_left_group": {
+            "cls": "Stove"
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+        "counter_2_left_group": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_base": {
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+        "stack_1_left_group_1": {
+            "cls": "Drawer"
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+        "stack_1_left_group_2": {
+            "cls": "Drawer"
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+        "stack_1_left_group_3": {
+            "cls": "Drawer"
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+        "stack_2_left_group_base": {
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+        "stack_2_left_group_1": {
+            "cls": "Drawer"
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+        "stack_2_left_group_2": {
+            "cls": "Drawer"
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+        "stack_2_left_group_3": {
+            "cls": "Drawer"
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+        "stack_3_left_group_base": {
+            "cls": "Box"
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+        "stack_3_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_base": {
+            "cls": "Box"
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+        "stack_4_left_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_3": {
+            "cls": "Drawer"
+        },
+        "fridge_left_group": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridge_housing_left_group": {
+            "cls": "HousingCabinet"
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+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group": {
+            "cls": "HingeCabinet"
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+        "microwave_left_group": {
+            "cls": "Microwave"
+        },
+        "cab_3_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_4_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_5_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_6_left_group": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_oven_left_group": {
+            "cls": "ToasterOven"
+        },
+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_left_group": {
+            "cls": "Accessory"
+        },
+        "sink_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "dishwasher_right_group": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_right_group_base": {
+            "cls": "Box"
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+        "stack_3_right_group_1": {
+            "cls": "Drawer"
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+        "stack_3_right_group_2": {
+            "cls": "Drawer"
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+        "stack_4_right_group_base": {
+            "cls": "Box"
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+        "stack_4_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "box_right_group": {
+            "cls": "Box"
+        },
+        "cab_1_right_group": {
+            "cls": "OpenCabinet"
+        },
+        "cab_2_right_group": {
+            "cls": "OpenCabinet"
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+        "toaster_right_group": {
+            "cls": "Toaster"
+        },
+        "dining_front_group": {
+            "cls": "Counter"
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+        "box_front_group": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_front_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_front_group_1": {
+            "cls": "Drawer"
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+        "stack_2_front_group_2": {
+            "cls": "Drawer"
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+        "stack_2_front_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_front_group_4": {
+            "cls": "Drawer"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Open the fridge doors.",
+    "fixture_refs": {
+        "fxtr": "fridge_left_group"
+    },
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+                1.15
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+}

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

@@ -0,0 +1,392 @@
+{
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+    "time": "8:59:22",
+    "total": 14010
+}

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

@@ -0,0 +1,433 @@
+{
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+            "info": {
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+                    "in_container"
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+                "cat": "hotdog_bun",
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+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/hotdog_bun/HotdogBun006/model.xml"
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+    "fixtures": {
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+        "wall_right_1_backing_room": {
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+        "robot0_eye_in_hand": {
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+    "init_robot_base_pos": [
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+}

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

@@ -0,0 +1,433 @@
+{
+    "layout_id": 56,
+    "style_id": 37,
+    "object_cfgs": [
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+            "name": "obj",
+            "obj_groups": "all",
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+                "fixture": "microwave_right_group_1",
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+                    0.05
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+                "ensure_object_boundary_in_range": false,
+                "try_to_place_in": "container"
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+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "coffee_cup",
+                    "drink"
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+                "groups": [
+                    "all"
+                ],
+                "cat": "coffee_cup",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/coffee_cup/coffee_cup_11/model.xml"
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+                "name": "tray"
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+    "fixtures": {
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+            "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"
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+        "stack_13_island_group_2_1": {
+            "cls": "HingeCabinet"
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+        "stove_main_group_1": {
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+        "stove_hood_main_group_1": {
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+        "stack_04_main_group_1_2": {
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+        "stack_06_main_group_1_1": {
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+            "cls": "Drawer"
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+        "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": {
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+        "counter_1_right_group_1": {
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+        "counter_8_right_group_1": {
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+        "stack_6_right_group_1_base": {
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+        },
+        "stack_6_right_group_1_1": {
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+        },
+        "stack_6_right_group_1_2": {
+            "cls": "HingeCabinet"
+        },
+        "stack_4_right_group_1_base": {
+            "cls": "Box"
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+        "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"
+        },
+        "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": {
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+        },
+        "stack_09_island_group_1_2": {
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+        "stack_09_island_group_1_3": {
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+        "stack_10_island_group_1_base": {
+            "cls": "Box"
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+            "cls": "SingleCabinet"
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+        "stack_10_island_group_1_2": {
+            "cls": "Drawer"
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+        "dishwasher_1_island_group_1": {
+            "cls": "Dishwasher"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_island_group_1": {
+            "cls": "Box"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Press the start button on the microwave.",
+    "fixture_refs": {},
+    "cam_configs": {
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+        "robot0_eye_in_hand": {
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+        -0.0001655254467980427
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+}

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

@@ -0,0 +1,442 @@
+{
+    "layout_id": 28,
+    "style_id": 54,
+    "object_cfgs": [
+        {
+            "name": "obj_container",
+            "obj_groups": "container",
+            "placement": {
+                "fixture": "microwave_main_group",
+                "size": [
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+                    0.05
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+                "ensure_object_boundary_in_range": false,
+                "try_to_place_in": "container"
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "container"
+                ],
+                "cat": "plate",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml"
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+                "height": 0.3446502337682016,
+                "name": "tray"
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+        {
+            "name": "obj",
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+            "placement": {
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+                    0.01
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+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "obj_container",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "hotdog_bun",
+                    "bread_food",
+                    "food",
+                    "in_container"
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+                "groups": [
+                    "all"
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+                "cat": "hotdog_bun",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/hotdog_bun/HotdogBun002/model.xml"
+            }
+        }
+    ],
+    "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"
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+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
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+        "wall_right_3_room": {
+            "cls": "Wall"
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+        "wall_right_3_backing_room": {
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+        "wall_left_3_backing_room": {
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+        "wall_left_2_room": {
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+        "wall_left_2_backing_room": {
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+        "wall_right_2_backing_room": {
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+        "floor_1_room": {
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+        "floor_1_backing_room": {
+            "cls": "Floor"
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+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_1_room": {
+            "cls": "WallAccessory"
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+        "window_group_room": {
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+        "stool_2_room": {
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+        "stool_4_room": {
+            "cls": "Stool"
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+        "bottom_main_group_base": {
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+        "microwave_main_group": {
+            "cls": "Microwave"
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+        "microwave_housing_main_group": {
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+        },
+        "top_main_group": {
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+        "counter_1_main_group": {
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+            "cls": "Sink"
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+        "counter_2_main_group": {
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+        },
+        "stack_1_main_group_base": {
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+            "cls": "SingleCabinet"
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+        "stack_2_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1": {
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+        },
+        "stack_2_main_group_2": {
+            "cls": "Drawer"
+        },
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+            "cls": "SingleCabinet"
+        },
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+        },
+        "stack_4_main_group_base": {
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+        },
+        "stack_4_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_main_group_2": {
+            "cls": "Drawer"
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+        "stack_5_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "oven_main_group": {
+            "cls": "Oven"
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+        "stack_6_main_group_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_6_main_group_2": {
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+        },
+        "stack_7_main_group_base": {
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+        },
+        "stack_7_main_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_7_main_group_2": {
+            "cls": "HingeCabinet"
+        },
+        "stack_7_main_group_3": {
+            "cls": "SingleCabinet"
+        },
+        "cab_1_main_group": {
+            "cls": "SingleCabinet"
+        },
+        "cab_2_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_main_group": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_main_group": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_main_group": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group": {
+            "cls": "ToasterOven"
+        },
+        "paper_towel_main_group": {
+            "cls": "Accessory"
+        },
+        "fridge_right_group": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "fridge_housing_right_group": {
+            "cls": "HousingCabinet"
+        },
+        "fridge_top_right_group": {
+            "cls": "HingeCabinet"
+        },
+        "stovetop_island_group": {
+            "cls": "Stovetop"
+        },
+        "counter_1_island_group": {
+            "cls": "Counter"
+        },
+        "island_island_group": {
+            "cls": "Counter"
+        },
+        "cube_island_group": {
+            "cls": "Box"
+        },
+        "panel_cab_1_island_group_base": {
+            "cls": "Box"
+        },
+        "panel_cab_1_island_group_1": {
+            "cls": "PanelCabinet"
+        },
+        "stack_1_island_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1": {
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+}

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

@@ -0,0 +1,433 @@
+{
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+        "bottom_right_group_1_base": {
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+        "microwave_right_group_1": {
+            "cls": "Microwave"
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+        "hingecabinet_2_right_group_1": {
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+        "microwave_housing_right_group_1": {
+            "cls": "HousingCabinet"
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+        "singlecabinet_2_right_group_1": {
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+        "top_right_group_1": {
+            "cls": "HingeCabinet"
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+        "toaster_oven_right_group_1": {
+            "cls": "ToasterOven"
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+        "sink_left_group_1": {
+            "cls": "Sink"
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+        "counter_1_left_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_1_left_group_1": {
+            "cls": "Counter"
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+        "counter_2_left_group_1": {
+            "cls": "Counter"
+        },
+        "singlecabinet_1_left_group_1": {
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+        "hingecabinet_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_1_base": {
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+        "stack_3_left_group_1_1": {
+            "cls": "HingeCabinet"
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+        "dishwasher_1_left_group_1": {
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+}

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

@@ -0,0 +1,349 @@
+{
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+        "stack_1_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_1_2": {
+            "cls": "Drawer"
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+        "plant_right_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_right_group_1": {
+            "cls": "ToasterOven"
+        },
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+            "cls": "Sink"
+        },
+        "counter_1_left_group_1": {
+            "cls": "Counter"
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+            "cls": "Drawer"
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+            "cls": "PanelCabinet"
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+            "cls": "Box"
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+        "dishwasher_1_left_group_1": {
+            "cls": "Dishwasher"
+        },
+        "coffee_machine_left_group_1": {
+            "cls": "CoffeeMachine"
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+    },
+    "gen_textures": {},
+    "lang": "Press the start button on the microwave.",
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+    "cam_configs": {
+        "robot0_agentview_center": {
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+        "robot0_eye_in_hand": {
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+                0
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+            "quat": [
+                0,
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+                0.707107,
+                0
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+            "parent_body": "robot0_right_hand"
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+    "init_robot_base_pos": [
+        2.100359252326694,
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+        0.0,
+        0.00030199704781619374
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+}

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

@@ -0,0 +1,364 @@
+{
+    "layout_id": 38,
+    "style_id": 53,
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+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/coffee_cup/coffee_cup_3/model.xml"
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+        "wall_left_2_backing_room": {
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+        "wallaccessory.005_room": {
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+        "wallaccessory.004_room": {
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+        "fridgesidebyside_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_1_left_group_1": {
+            "cls": "HingeCabinet"
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+        "hingecabinet_2_left_group_1": {
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+        "hingecabinet_3_left_group_1": {
+            "cls": "HingeCabinet"
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+            "cls": "Box"
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+            "cls": "Drawer"
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+        "stack_4_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_2_island_group_1": {
+            "cls": "Box"
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+    "lang": "Press the start button on the microwave.",
+    "fixture_refs": {},
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+        "robot0_agentview_left": {
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+}

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

@@ -0,0 +1,356 @@
+{
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+        "floor_1_backing_room": {
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+            "cls": "Stove"
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+        "widestove_hood_main_group_1": {
+            "cls": "Hood"
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+}

pretrain/atomic/TurnOnMicrowave/20250819/lerobot/extras/episode_000011/ep_meta.json

@@ -0,0 +1,434 @@
+{
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+        "stack_2_main_group_1_2": {
+            "cls": "Drawer"
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+        "knife_block_main_group_1": {
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+        "paper_towel_main_group_1": {
+            "cls": "Accessory"
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+        "toaster_oven_main_group_1": {
+            "cls": "ToasterOven"
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+        "sink_island_group_1": {
+            "cls": "Sink"
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+            "cls": "Counter"
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+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
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+}

pretrain/atomic/TurnOnMicrowave/20250819/lerobot/extras/episode_000012/ep_meta.json

@@ -0,0 +1,372 @@
+{
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+            "cls": "Microwave"
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+}

pretrain/atomic/TurnOnMicrowave/20250819/lerobot/extras/episode_000014/ep_meta.json

@@ -0,0 +1,430 @@
+{
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+                    "on_top": true
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+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "mushroom",
+                    "vegetable",
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+                    "all"
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+                "cat": "mushroom",
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+            "cls": "CoffeeMachine"
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+        "toaster_right_group_1": {
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+        },
+        "papertowel_right_group_1": {
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+        "toaster_oven_right_group_1": {
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+        "cube_4_island_group_1": {
+            "cls": "Box"
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+            "cls": "Box"
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+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
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+        },
+        "stack_1_island_group_1_2": {
+            "cls": "Drawer"
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+            "cls": "Drawer"
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+}

pretrain/atomic/TurnOnMicrowave/20250819/lerobot/extras/episode_000015/ep_meta.json

@@ -0,0 +1,346 @@
+{
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+            "cls": "Drawer"
+        },
+        "microwave_left_group_1": {
+            "cls": "Microwave"
+        },
+        "fridgefrenchdoor_left_group_1": {
+            "cls": "FridgeFrenchDoor"
+        },
+        "fridgefrenchdoor_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "oven_cabinet_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_housing_left_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "island_1_island_group_1": {
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+        "island_2_island_group_1": {
+            "cls": "Counter"
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+        "cube_2_island_group_1": {
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+        "stack_08_island_group_1_base": {
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+        "cube_16_island_group_1": {
+            "cls": "Box"
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+    "lang": "Press the start button on the microwave.",
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+        "robot0_eye_in_hand": {
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+    "init_robot_base_pos": [
+        1.1163127729558762,
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+}

pretrain/atomic/TurnOnMicrowave/20250819/lerobot/extras/episode_000018/ep_meta.json

@@ -0,0 +1,434 @@
+{
+    "layout_id": 56,
+    "style_id": 14,
+    "object_cfgs": [
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+            "obj_groups": "all",
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+                "try_to_place_in": "container"
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+                    "glass_cup",
+                    "stackable",
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+                    "all"
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+                "cat": "glass_cup",
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+    "fixtures": {
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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"
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+        "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"
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+        "stool_3_room": {
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+        "stool_2_room": {
+            "cls": "Stool"
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+        "stool_1_room": {
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+            "cls": "Drawer"
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+            "cls": "Drawer"
+        },
+        "cube_8_main_group_1": {
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+        "coffee_machine_main_group_1": {
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+        "papertowel_main_group_1": {
+            "cls": "Accessory"
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+        "plant_main_group_1": {
+            "cls": "Accessory"
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+        "toaster_oven_main_group_1": {
+            "cls": "ToasterOven"
+        },
+        "singlecabinet_1_right_group_1": {
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+        "hingecabinet_1_right_group_1": {
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+        "stack_6_right_group_1_1": {
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+        "stack_6_right_group_1_2": {
+            "cls": "HingeCabinet"
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+        "stack_4_right_group_1_base": {
+            "cls": "Box"
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+            "cls": "Box"
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+        "stack_7_right_group_1_base": {
+            "cls": "Box"
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+        "stack_7_right_group_1_1": {
+            "cls": "HingeCabinet"
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+        "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"
+        },
+        "sink_island_group_1": {
+            "cls": "Sink"
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+        "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"
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+            "cls": "Dishwasher"
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+        "cube_1_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_island_group_1": {
+            "cls": "Box"
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+    },
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+    "lang": "Press the start button on the microwave.",
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+    "cam_configs": {
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+}

pretrain/atomic/TurnOnMicrowave/20250819/lerobot/extras/episode_000020/ep_meta.json

@@ -0,0 +1,404 @@
+{
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+    "style_id": 59,
+    "object_cfgs": [
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+                "fixture": "microwave_main_group_1",
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+                    0.05
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+                "ensure_object_boundary_in_range": false,
+                "try_to_place_in": "container"
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+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
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+                "groups": [
+                    "container"
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+                "cat": "plate",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml"
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+                "sample_args": {
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+                    "on_top": true
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+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "chicken_drumstick",
+                    "meat",
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+                "cat": "chicken_drumstick",
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+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/chicken_drumstick/ChickenDrumstick007/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": {
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+        "wall_main_1_backing_room": {
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+        "wall_right_1_room": {
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+        "wall_right_1_backing_room": {
+            "cls": "Wall"
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+        "wall_right_2_room": {
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+        "wall_right_2_backing_room": {
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+        "wallaccessory_01_room": {
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+            "cls": "WallAccessory"
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+            "cls": "WallAccessory"
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+        "wallaccessory_07_room": {
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+        "wallaccessory_08_room": {
+            "cls": "WallAccessory"
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+        "wallaccessory_09_room": {
+            "cls": "WallAccessory"
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+        "wallaccessory_10_room": {
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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"
+        },
+        "cube_3_main_group_1": {
+            "cls": "Box"
+        },
+        "singlecabinet_01_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_11_main_group_1": {
+            "cls": "Box"
+        },
+        "cube_12_main_group_1": {
+            "cls": "Box"
+        },
+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "plant_main_group_1": {
+            "cls": "Accessory"
+        },
+        "fridgebottomfreezer_right_group_1": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "fridgebottomfreezer_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_05_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "counter_6_right_group_1": {
+            "cls": "Counter"
+        },
+        "hingecabinet_04_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_06_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_7_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_7_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_7_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_8_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_8_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "cube_13_right_group_1": {
+            "cls": "Box"
+        },
+        "toaster_oven_right_group_1": {
+            "cls": "ToasterOven"
+        },
+        "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"
+        },
+        "stack_1_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_left_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "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": "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"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Press the start button on the microwave.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
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+                1.15
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+        "robot0_agentview_left": {
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+        "robot0_agentview_right": {
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+            "parent_body": "mobilebase0_support"
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+        "robot0_eye_in_hand": {
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+                0,
+                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": [
+        3.200724218080957,
+        -0.823936112375317,
+        0.0
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+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}

pretrain/atomic/TurnOnMicrowave/20250819/lerobot/extras/episode_000022/ep_meta.json

@@ -0,0 +1,376 @@
+{
+    "layout_id": 54,
+    "style_id": 19,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "microwave_main_group_1",
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+                "ensure_object_boundary_in_range": false,
+                "try_to_place_in": "container"
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "canned_food",
+                    "packaged_food"
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+                "groups": [
+                    "all"
+                ],
+                "cat": "canned_food",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/canned_food/canned_food_15/model.xml"
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+                "name": "tray"
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+        "wall_right_1_backing_room": {
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+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
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+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
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+        "wallaccessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_4_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
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+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "stool_3_room": {
+            "cls": "Stool"
+        },
+        "stool_4_room": {
+            "cls": "Stool"
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+        "fridgefrenchdoor_main_group_1": {
+            "cls": "FridgeFrenchDoor"
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+        "fridgefrenchdoor_housing_main_group_1": {
+            "cls": "HousingCabinet"
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+        "stove_hood_main_group_1": {
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+            "cls": "Accessory"
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+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
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+        "toaster_oven_main_group_1": {
+            "cls": "ToasterOven"
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+        "opencabinet_1_right_group_1": {
+            "cls": "OpenCabinet"
+        },
+        "cube_3_right_group_1": {
+            "cls": "Box"
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+            "cls": "Box"
+        },
+        "hingecabinet_6_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_5_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "sink_right_group_1": {
+            "cls": "Sink"
+        },
+        "counter_4_right_group_1": {
+            "cls": "Counter"
+        },
+        "stack_05_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_05_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_05_right_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_04_right_group_1_base": {
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+        "stack_06_right_group_1_base": {
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+        "stack_06_right_group_1_1": {
+            "cls": "SingleCabinet"
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+            "cls": "Box"
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+        "cube_1_right_group_1": {
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+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "island_island_group_1": {
+            "cls": "Counter"
+        },
+        "stack_07_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_07_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_07_island_group_1_2": {
+            "cls": "Drawer"
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+        "stack_08_island_group_1_base": {
+            "cls": "Box"
+        },
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+            "cls": "HingeCabinet"
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+            "cls": "Drawer"
+        },
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+            "cls": "Box"
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+            "cls": "Box"
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+            "cls": "Box"
+        },
+        "stack_06_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_06_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_1_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_island_group_1": {
+            "cls": "Box"
+        },
+        "dishwasher_1_island_group_1": {
+            "cls": "Dishwasher"
+        },
+        "plant_island_group_1": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Press the start button on the microwave.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
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+                1.15
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+        "robot0_agentview_left": {
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+                1.05
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+            "parent_body": "mobilebase0_support"
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+            "parent_body": "mobilebase0_support"
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+        "robot0_eye_in_hand": {
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+            "parent_body": "robot0_right_hand"
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+    "init_robot_base_pos": [
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+        0.0,
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+}

pretrain/atomic/TurnOnMicrowave/20250819/lerobot/extras/episode_000024/ep_meta.json

@@ -0,0 +1,454 @@
+{
+    "layout_id": 49,
+    "style_id": 50,
+    "object_cfgs": [
+        {
+            "name": "obj",
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+                "ensure_object_boundary_in_range": false,
+                "try_to_place_in": "container"
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+            "type": "object",
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+                    "receptacle"
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+                "groups": [
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+                "cat": "pitcher",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher005/model.xml"
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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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+        "wall_main_1_backing_room": {
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+        "wall_left_1_backing_room": {
+            "cls": "Wall"
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+        "wall_left_2_room": {
+            "cls": "Wall"
+        },
+        "wall_left_2_backing_room": {
+            "cls": "Wall"
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+        "wall_left_4_room": {
+            "cls": "Wall"
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+        "wall_left_4_backing_room": {
+            "cls": "Wall"
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+        "wall_left_3_room": {
+            "cls": "Wall"
+        },
+        "wall_left_3_backing_room": {
+            "cls": "Wall"
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+        "wall_main_4_room": {
+            "cls": "Wall"
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+        "wall_main_4_backing_room": {
+            "cls": "Wall"
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+        "wall_main_3_room": {
+            "cls": "Wall"
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+        "wall_main_3_backing_room": {
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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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+            "cls": "WallAccessory"
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+            "cls": "WallAccessory"
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+        "wallaccessory_4_room": {
+            "cls": "WallAccessory"
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+        "wallaccessory_5_room": {
+            "cls": "WallAccessory"
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+            "cls": "WallAccessory"
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+        "window_group_1_room": {
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+            "cls": "Counter"
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+            "cls": "Counter"
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+            "cls": "Counter"
+        },
+        "stove_main_group_1": {
+            "cls": "Stove"
+        },
+        "microwave_main_group_1": {
+            "cls": "Microwave"
+        },
+        "micro_cab_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_01_main_group_1_base": {
+            "cls": "Box"
+        },
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+            "cls": "SingleCabinet"
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+        "stack_01_main_group_1_2": {
+            "cls": "Drawer"
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+        },
+        "cube_main_group_1": {
+            "cls": "Box"
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+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
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+        "toaster_main_group_1": {
+            "cls": "Toaster"
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+        "papertowel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_main_group_1": {
+            "cls": "ToasterOven"
+        },
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+            "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"
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+        "stack_12_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_13_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_13_front_group_1_1": {
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+        },
+        "stack_13_front_group_1_2": {
+            "cls": "Drawer"
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+        "stack_13_front_group_1_3": {
+            "cls": "Drawer"
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+        "stack_14_front_group_1_base": {
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+        "stack_15_front_group_1_base": {
+            "cls": "Box"
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+        "stack_15_front_group_1_1": {
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+        "cube_11_front_group_1": {
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+            "cls": "Box"
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+            "cls": "SingleCabinet"
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+        "stack_08_dining_area_group_2": {
+            "cls": "Drawer"
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+        "cube_2_dining_area_group": {
+            "cls": "Box"
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+    "lang": "Press the start button on the microwave.",
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+    "cam_configs": {
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+}

pretrain/atomic/TurnOnMicrowave/20250819/lerobot/extras/episode_000025/ep_meta.json

@@ -0,0 +1,430 @@
+{
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+    "style_id": 51,
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+                    "plate",
+                    "receptacle",
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+                "groups": [
+                    "container"
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+                "cat": "plate",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_3/model.xml"
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+                "sample_args": {
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+                    "on_top": true
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+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "bell_pepper",
+                    "vegetable",
+                    "food",
+                    "in_container"
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+                "groups": [
+                    "all"
+                ],
+                "cat": "bell_pepper",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_1/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": {
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+        "wall_main_2_room": {
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+        "wall_main_2_backing_room": {
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+        "wall_left_1_room": {
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+        "wall_left_1_backing_room": {
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+        "wall_main_3_room": {
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+        "oven_main_group_1": {
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+            "cls": "HingeCabinet"
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+            "cls": "HingeCabinet"
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+            "cls": "Hood"
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+            "cls": "PanelCabinet"
+        },
+        "stack_5_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_5_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_5_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "coffee_machine_right_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "papertowel_right_group_1": {
+            "cls": "Accessory"
+        },
+        "toaster_oven_right_group_1": {
+            "cls": "ToasterOven"
+        },
+        "sink_island_group_1": {
+            "cls": "Sink"
+        },
+        "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"
+        },
+        "cube_4_island_group_1": {
+            "cls": "Box"
+        },
+        "cube_5_island_group_1": {
+            "cls": "Box"
+        },
+        "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": "HingeCabinet"
+        },
+        "stack_3_island_group_1_base": {
+            "cls": "Box"
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+        "stack_3_island_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_4_island_group_1_base": {
+            "cls": "Box"
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+        "stack_4_island_group_1_1": {
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+        "stack_5_island_group_1_1": {
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+        "stack_5_island_group_1_2": {
+            "cls": "Drawer"
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+            "cls": "Drawer"
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+        "dishwasher_1_island_group_1": {
+            "cls": "Dishwasher"
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+    },
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+}

pretrain/atomic/TurnOnMicrowave/20250819/lerobot/extras/episode_000027/ep_meta.json

@@ -0,0 +1,416 @@
+{
+    "layout_id": 19,
+    "style_id": 16,
+    "object_cfgs": [
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+                "ensure_object_boundary_in_range": false,
+                "try_to_place_in": "container"
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "container"
+                ],
+                "cat": "plate",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml"
+            },
+            "reset_region": {
+                "offset": [
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+                    -0.032179416038614135,
+                    -0.1658766905931489
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+                "size": [
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+                    0.30147956197607606
+                ],
+                "height": 0.33087970855247434,
+                "name": "tray"
+            }
+        },
+        {
+            "name": "obj",
+            "obj_groups": "all",
+            "placement": {
+                "size": [
+                    0.01,
+                    0.01
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "obj_container",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "corn",
+                    "vegetable",
+                    "food",
+                    "in_container",
+                    "oven_ready"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "corn",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/corn/corn_0/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_left_1_room": {
+            "cls": "Wall"
+        },
+        "wall_left_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3_room": {
+            "cls": "Wall"
+        },
+        "wall_main_3_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wall_accessory_1_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_2_room": {
+            "cls": "WallAccessory"
+        },
+        "wall_accessory_3_room": {
+            "cls": "WallAccessory"
+        },
+        "light_switch_1_room": {
+            "cls": "WallAccessory"
+        },
+        "window_group_room": {
+            "cls": "Window"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "sink_left_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_left_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "stack_3_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_left_group_1_3": {
+            "cls": "Drawer"
+        },
+        "cab_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cab_3_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "bottom_left_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "middle_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "middle_2_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "top_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_oven_left_group_1": {
+            "cls": "ToasterOven"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_right_group_1": {
+            "cls": "Counter"
+        },
+        "box_1_right_group_1": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "dishwasher_1_right_group_1": {
+            "cls": "Dishwasher"
+        },
+        "stack_2_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "box_2_right_group_1": {
+            "cls": "Box"
+        },
+        "cab_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_right_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "paper_towel_right_group_1": {
+            "cls": "Accessory"
+        },
+        "counter_corner_1_main_group_3": {
+            "cls": "Counter"
+        },
+        "stove_main_group_3": {
+            "cls": "Stove"
+        },
+        "fridge_1_main_group_3": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "fridge_1_housing_main_group_3": {
+            "cls": "HousingCabinet"
+        },
+        "top_1_main_group_3": {
+            "cls": "HingeCabinet"
+        },
+        "cab_1_main_group_3": {
+            "cls": "OpenCabinet"
+        },
+        "microwave_main_group_3": {
+            "cls": "Microwave"
+        },
+        "cab_micro_main_group_3": {
+            "cls": "HingeCabinet"
+        },
+        "cab_corner_main_group_3": {
+            "cls": "Box"
+        },
+        "dining_dining_area_group": {
+            "cls": "Counter"
+        },
+        "box_dining_area_group": {
+            "cls": "Box"
+        },
+        "stack_1_dining_area_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_dining_area_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_dining_area_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_dining_area_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_dining_area_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_dining_area_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_dining_area_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_2_dining_area_group_4": {
+            "cls": "Drawer"
+        },
+        "stack_3_dining_area_group_base": {
+            "cls": "Box"
+        },
+        "stack_3_dining_area_group_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_dining_area_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_dining_area_group_3": {
+            "cls": "Drawer"
+        },
+        "stack_3_dining_area_group_4": {
+            "cls": "Drawer"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Press the start button on the microwave.",
+    "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
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+            "quat": [
+                0.6088936924934387,
+                0.3814677894115448,
+                -0.3673907518386841,
+                -0.5905545353889465
+            ],
+            "camera_attribs": {
+                "fovy": "60"
+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
+                0.05,
+                0,
+                0
+            ],
+            "quat": [
+                0,
+                0.707107,
+                0.707107,
+                0
+            ],
+            "parent_body": "robot0_right_hand"
+        }
+    },
+    "init_robot_base_pos": [
+        3.237593082812858,
+        -0.887966586623523,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}

pretrain/atomic/TurnOnMicrowave/20250819/lerobot/extras/episode_000028/ep_meta.json

@@ -0,0 +1,574 @@
+{
+    "layout_id": 39,
+    "style_id": 45,
+    "object_cfgs": [
+        {
+            "name": "obj_container",
+            "obj_groups": "container",
+            "placement": {
+                "fixture": "microwave_front_group_1",
+                "size": [
+                    0.05,
+                    0.05
+                ],
+                "ensure_object_boundary_in_range": false,
+                "try_to_place_in": "container"
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "container"
+                ],
+                "cat": "plate",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_19/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.08561870237670313,
+                    0.04027097705571664,
+                    -0.15220052361541422
+                ],
+                "size": [
+                    0.392903459412061,
+                    0.38428011948475926
+                ],
+                "height": 0.3119886170406399,
+                "name": "tray"
+            }
+        },
+        {
+            "name": "obj",
+            "obj_groups": "all",
+            "placement": {
+                "size": [
+                    0.01,
+                    0.01
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "obj_container",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "garlic",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "garlic",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/garlic/garlic_2/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_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"
+        },
+        "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"
+        },
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+            "cls": "Drawer"
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+            "cls": "Counter"
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+        "hingecabinet_2_front_group_1": {
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+}

pretrain/atomic/TurnOnMicrowave/20250819/lerobot/extras/episode_000030/ep_meta.json

@@ -0,0 +1,416 @@
+{
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+                    "plate",
+                    "receptacle",
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+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml"
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+            "cls": "CoffeeMachine"
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+        "paper_towel_left_group_1": {
+            "cls": "Accessory"
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+        "island_2_island_group_1": {
+            "cls": "Counter"
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+        "island_3_island_group_1": {
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+        "stove_island_group_1": {
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+            "cls": "Box"
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+        "stack_06_island_group_1_1": {
+            "cls": "SingleCabinet"
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+        "stack_06_island_group_1_2": {
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+        "stack_09_island_group_2_base": {
+            "cls": "Box"
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+        "stack_09_island_group_2_1": {
+            "cls": "SingleCabinet"
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+        "stack_09_island_group_2_2": {
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+            "cls": "Box"
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+        "stack_08_island_group_2_1": {
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+            "cls": "Drawer"
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+}

pretrain/atomic/TurnOnMicrowave/20250819/lerobot/extras/episode_000031/ep_meta.json

@@ -0,0 +1,415 @@
+{
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+        "wall_right_1_room": {
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+        "wall_right_1_backing_room": {
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+            "cls": "CoffeeMachine"
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+        "toaster_right_group_1": {
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+}

pretrain/atomic/TurnOnMicrowave/20250819/lerobot/extras/episode_000032/ep_meta.json

@@ -0,0 +1,454 @@
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+            "cls": "Box"
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+}

pretrain/atomic/TurnOnMicrowave/20250819/lerobot/extras/episode_000033/ep_meta.json

@@ -0,0 +1,345 @@
+{
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+                "height": 0.34259020441416727,
+                "name": "tray"
+            }
+        }
+    ],
+    "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"
+        },
+        "sink_main_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "singlecabinet_1_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_2_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_1_2": {
+            "cls": "PanelCabinet"
+        },
+        "cube_1_main_group_1": {
+            "cls": "Box"
+        },
+        "dishwasher_1_main_group_1": {
+            "cls": "Dishwasher"
+        },
+        "bottom_main_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "microwave_main_group_1": {
+            "cls": "Microwave"
+        },
+        "fridgesidebyside_main_group_1": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridgesidebyside_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "oven_cabinet_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_1_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_housing_main_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "top_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "knife_block_main_group_1": {
+            "cls": "Accessory"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "counter_2_right_group_1": {
+            "cls": "Counter"
+        },
+        "stove_right_group_1": {
+            "cls": "Stove"
+        },
+        "stove_hood_right_group_1": {
+            "cls": "Hood"
+        },
+        "singlecabinet_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "toaster_right_group_1": {
+            "cls": "Toaster"
+        },
+        "stack_1_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_island_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_3_island_group_1_2": {
+            "cls": "Drawer"
+        },
+        "island_island_group_2": {
+            "cls": "Counter"
+        },
+        "stack_4_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_4_island_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_5_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_5_island_group_2_1": {
+            "cls": "SingleCabinet"
+        },
+        "paper_towel_island_group_2": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Press the start button on the microwave.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
+                -0.6,
+                0.0,
+                1.15
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+                0.3325185477733612,
+                -0.3199238181114197,
+                -0.6175596117973328
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+            "parent_body": "mobilebase0_support"
+        },
+        "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": {
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+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
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+            "parent_body": "mobilebase0_support"
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+        "robot0_frontview": {
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+                0,
+                0.95
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+            },
+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_eye_in_hand": {
+            "pos": [
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+                0,
+                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": [
+        5.146571932316751,
+        -1.0993218229525157,
+        0.0
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+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}

pretrain/atomic/TurnOnMicrowave/20250819/lerobot/extras/episode_000036/ep_meta.json

@@ -0,0 +1,469 @@
+{
+    "layout_id": 24,
+    "style_id": 42,
+    "object_cfgs": [
+        {
+            "name": "obj_container",
+            "obj_groups": "container",
+            "placement": {
+                "fixture": "microwave_right_group",
+                "size": [
+                    0.05,
+                    0.05
+                ],
+                "ensure_object_boundary_in_range": false,
+                "try_to_place_in": "container"
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "container"
+                ],
+                "cat": "plate",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.07439206483098801,
+                    0.007718642389776528,
+                    -0.17083210617889427
+                ],
+                "size": [
+                    0.363122011943057,
+                    0.28157987199265655
+                ],
+                "height": 0.3533102004597044,
+                "name": "tray"
+            }
+        },
+        {
+            "name": "obj",
+            "obj_groups": "all",
+            "placement": {
+                "size": [
+                    0.01,
+                    0.01
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "obj_container",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "bell_pepper",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "bell_pepper",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_1/model.xml"
+            }
+        }
+    ],
+    "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": {
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+        },
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+        },
+        "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"
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+        "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": {
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+        },
+        "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": {
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+        },
+        "stack_7_main_group_1": {
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+        },
+        "stack_7_main_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_7_main_group_3": {
+            "cls": "Drawer"
+        },
+        "wall_stack_main_group_base": {
+            "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": {
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+        },
+        "stack_3_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_island_group_1_2": {
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+        },
+        "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"
+        },
+        "plant_island_group_1": {
+            "cls": "Accessory"
+        },
+        "stack_1_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_1_island_group_2_1": {
+            "cls": "SingleCabinet"
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+        "stack_2_island_group_2_base": {
+            "cls": "Box"
+        },
+        "stack_2_island_group_2_1": {
+            "cls": "SingleCabinet"
+        }
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+    "gen_textures": {},
+    "lang": "Press the start button on the microwave.",
+    "fixture_refs": {},
+    "cam_configs": {
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+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.422854288892552e-08
+    ]
+}

pretrain/atomic/TurnOnMicrowave/20250819/lerobot/extras/episode_000037/ep_meta.json

@@ -0,0 +1,403 @@
+{
+    "layout_id": 13,
+    "style_id": 20,
+    "object_cfgs": [
+        {
+            "name": "obj",
+            "obj_groups": "all",
+            "placement": {
+                "fixture": "microwave_right_group_1",
+                "size": [
+                    0.05,
+                    0.05
+                ],
+                "ensure_object_boundary_in_range": false,
+                "try_to_place_in": "container"
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tupperware",
+                    "receptacle"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "tupperware",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware031/model.xml"
+            },
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+                "height": 0.3426985309385594,
+                "name": "tray"
+            }
+        }
+    ],
+    "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"
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+        "plant_main_group_1": {
+            "cls": "Accessory"
+        },
+        "paper_towel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "counter_1_left_group_1": {
+            "cls": "Counter"
+        },
+        "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": "Press the start button on the microwave.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
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+                0.0,
+                1.15
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+                0.35,
+                1.05
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+                0.29935253,
+                -0.37678665,
+                -0.6775092
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+            "parent_body": "mobilebase0_support"
+        },
+        "robot0_agentview_right": {
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+                1.05
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+            "parent_body": "mobilebase0_support"
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+                0.95
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+            "parent_body": "mobilebase0_support"
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+        "robot0_eye_in_hand": {
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+                0,
+                0
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+            "quat": [
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+                0.707107,
+                0.707107,
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+            "parent_body": "robot0_right_hand"
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+    },
+    "init_robot_base_pos": [
+        3.597567778767226,
+        -1.7855393739981775,
+        0.0
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+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        3.422854288892552e-08
+    ]
+}

pretrain/atomic/TurnOnMicrowave/20250819/lerobot/extras/episode_000039/ep_meta.json

@@ -0,0 +1,433 @@
+{
+    "layout_id": 33,
+    "style_id": 23,
+    "object_cfgs": [
+        {
+            "name": "obj_container",
+            "obj_groups": "container",
+            "placement": {
+                "fixture": "microwave_right_group_1",
+                "size": [
+                    0.05,
+                    0.05
+                ],
+                "ensure_object_boundary_in_range": false,
+                "try_to_place_in": "container"
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "container"
+                ],
+                "cat": "plate",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_1/model.xml"
+            },
+            "reset_region": {
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+                "height": 0.351834652298867,
+                "name": "tray"
+            }
+        },
+        {
+            "name": "obj",
+            "obj_groups": "all",
+            "placement": {
+                "size": [
+                    0.01,
+                    0.01
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "obj_container",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "bell_pepper",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "bell_pepper",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/bell_pepper/bell_pepper_0/model.xml"
+            }
+        }
+    ],
+    "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"
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+        "counter_2_right_group_1": {
+            "cls": "Counter"
+        },
+        "hingecabinet_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_right_group_1": {
+            "cls": "HingeCabinet"
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+        "hingecabinet_3_right_group_1": {
+            "cls": "HingeCabinet"
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+        "stack_1_right_group_1_base": {
+            "cls": "Box"
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+        "stack_1_right_group_1_1": {
+            "cls": "HingeCabinet"
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+        "stack_1_right_group_1_2": {
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+        "stack_2_right_group_1_1": {
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+        "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"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Press the start button on the microwave.",
+    "fixture_refs": {},
+    "cam_configs": {
+        "robot0_agentview_center": {
+            "pos": [
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+}

pretrain/atomic/TurnOnMicrowave/20250819/lerobot/extras/episode_000041/ep_meta.json

@@ -0,0 +1,382 @@
+{
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+    "style_id": 25,
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+        "wallaccessory_4_room": {
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+        "lightswitch_01_room": {
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+            "cls": "CoffeeMachine"
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+        "paper_towel_left_group_1": {
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+        "stack_10_island_group_2_base": {
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+            "cls": "SingleCabinet"
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+        "stack_11_island_group_2_base": {
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+        "stack_11_island_group_2_1": {
+            "cls": "SingleCabinet"
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+        "stack_11_island_group_2_2": {
+            "cls": "Drawer"
+        },
+        "cube_5_island_group_2": {
+            "cls": "Box"
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+    },
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+    "lang": "Press the start button on the microwave.",
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+}

pretrain/atomic/TurnOnMicrowave/20250819/lerobot/extras/episode_000043/ep_meta.json

@@ -0,0 +1,436 @@
+{
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+                    "canned_food",
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+        "wall_main_1_backing_room": {
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+        "wall_right_1_backing_room": {
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+            "cls": "Box"
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+        "bottom_left_group_1_1": {
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+        "oven_left_group_1": {
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+        "oven_housing_left_group_1": {
+            "cls": "HousingCabinet"
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+        "microwave_left_group_1": {
+            "cls": "Microwave"
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+        "microwave_housing_left_group_1": {
+            "cls": "HousingCabinet"
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+        "top_left_group_1": {
+            "cls": "HingeCabinet"
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+        "stack_1_left_group_1_base": {
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+        "stack_1_left_group_1_1": {
+            "cls": "HingeCabinet"
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+            "cls": "HingeCabinet"
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+        "stack_3_left_group_1_2": {
+            "cls": "Drawer"
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+        "coffeemachine_left_group_1": {
+            "cls": "CoffeeMachine"
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+        "toaster_oven_left_group_1": {
+            "cls": "ToasterOven"
+        },
+        "counter_1_island_group": {
+            "cls": "Counter"
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+        "stack_2_island_group_base": {
+            "cls": "Box"
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+        "stack_2_island_group_1": {
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+            "cls": "Drawer"
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+        "stack_1_island_group_base": {
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+        },
+        "stack_3_island_group_1": {
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+        "plant_island_group": {
+            "cls": "Accessory"
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+            "cls": "Box"
+        },
+        "stack_2_dining_area_group_1": {
+            "cls": "HingeCabinet"
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+            "cls": "Box"
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+            "cls": "HingeCabinet"
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+        "stool_2_stool_group_1": {
+            "cls": "Stool"
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+        "robot0_eye_in_hand": {
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+    "init_robot_base_pos": [
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+        3.1415924507432367
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+}

pretrain/atomic/TurnOnMicrowave/20250819/lerobot/extras/episode_000044/ep_meta.json

@@ -0,0 +1,370 @@
+{
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+    "style_id": 48,
+    "object_cfgs": [
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+            "obj_groups": "all",
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+                "try_to_place_in": "container"
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+                    "pitcher",
+                    "receptacle"
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+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pitcher/Pitcher005/model.xml"
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+        },
+        "wallaccessory_01_room": {
+            "cls": "WallAccessory"
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+        "stack_7_right_group_1_2": {
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+        "stack_8_right_group_1_base": {
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+            "cls": "Drawer"
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+            "cls": "Dishwasher"
+        },
+        "toaster_left_group_1": {
+            "cls": "Toaster"
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+    "lang": "Press the start button on the microwave.",
+    "fixture_refs": {},
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+}

pretrain/atomic/TurnOnMicrowave/20250819/lerobot/extras/episode_000048/ep_meta.json

@@ -0,0 +1,434 @@
+{
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+            }
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+            "cls": "HingeCabinet"
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+        "stack_03_main_group_1_2": {
+            "cls": "Drawer"
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+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "toaster_oven_main_group_1": {
+            "cls": "ToasterOven"
+        },
+        "sink_front_group_1": {
+            "cls": "Sink"
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+}

pretrain/atomic/TurnOnMicrowave/20250819/lerobot/extras/episode_000049/ep_meta.json

@@ -0,0 +1,403 @@
+{
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+    "style_id": 36,
+    "object_cfgs": [
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+                "try_to_place_in": "container"
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+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_3/model.xml"
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+            "type": "object",
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+                    "all",
+                    "shrimp",
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+                "cat": "shrimp",
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+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/shrimp/Shrimp007/model.xml"
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+        "fridgesidebyside_right_group_1": {
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+        "fridgesidebyside_housing_right_group_1": {
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+            "cls": "Box"
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+            "cls": "SingleCabinet"
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+        "stack_1_island_group_1_2": {
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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": "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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+            "cls": "PanelCabinet"
+        },
+        "panelbox_1_island_group_1_base": {
+            "cls": "Box"
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+        "panelbox_1_island_group_1_1": {
+            "cls": "PanelCabinet"
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+}

pretrain/atomic/TurnOnMicrowave/20250819/lerobot/extras/episode_000050/ep_meta.json

@@ -0,0 +1,403 @@
+{
+    "layout_id": 45,
+    "style_id": 17,
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+}

pretrain/atomic/TurnOnMicrowave/20250819/lerobot/extras/episode_000051/ep_meta.json

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

pretrain/atomic/TurnOnMicrowave/20250819/lerobot/extras/episode_000053/ep_meta.json

@@ -0,0 +1,295 @@
+{
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+        "hingecabinet_1_right_group_1": {
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+}

pretrain/atomic/TurnOnMicrowave/20250819/lerobot/extras/episode_000056/ep_meta.json

@@ -0,0 +1,434 @@
+{
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+                    "fish",
+                    "meat",
+                    "food",
+                    "in_container",
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+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/fish/fish_4/model.xml"
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+        "toaster_right_group_1": {
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+            "cls": "HingeCabinet"
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+        "stack_2_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_1_3": {
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+        },
+        "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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+        "knife_block_main_group_1": {
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+        },
+        "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"
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+        "stack_2_island_group_1_2": {
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+            "cls": "Box"
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+        "stack_1_island_group_1_1": {
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+        "stack_1_island_group_1_2": {
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+        "stack_3_island_group_1_1": {
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+            "cls": "Box"
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+        "dishwasher_1_island_group_1": {
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+}

pretrain/atomic/TurnOnMicrowave/20250819/lerobot/extras/episode_000059/ep_meta.json

@@ -0,0 +1,386 @@
+{
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+        },
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+            "cls": "HingeCabinet"
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+        "stack_5_dining_area_group_1_2": {
+            "cls": "Drawer"
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+        "cube_6_dining_area_group_1": {
+            "cls": "Box"
+        },
+        "cube_1_dining_area_group_1": {
+            "cls": "Box"
+        },
+        "cube_4_right_group_1": {
+            "cls": "Box"
+        },
+        "hingecabinet_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "singlecabinet_3_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "counter_4_right_group_1": {
+            "cls": "Counter"
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+        "counter_5_right_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_1_right_group_1": {
+            "cls": "Counter"
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+        "stove_right_group_1": {
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+        "microwave_right_group_1": {
+            "cls": "Microwave"
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+        "micro_cab_right_group_1": {
+            "cls": "HingeCabinet"
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+        "stack_6_right_group_1_base": {
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+        "hingecabinet_2_front_group_1": {
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+        "coffee_machine_front_group_1": {
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+    "lang": "Press the start button on the microwave.",
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+}

pretrain/atomic/TurnOnMicrowave/20250819/lerobot/extras/episode_000060/ep_meta.json

@@ -0,0 +1,445 @@
+{
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+    "style_id": 14,
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+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
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+                ],
+                "groups": [
+                    "container"
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+                "cat": "plate",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_10/model.xml"
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+                "sample_args": {
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+                    "on_top": true
+                }
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+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "hotdog_bun",
+                    "bread_food",
+                    "food",
+                    "in_container"
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+                "groups": [
+                    "all"
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+                "cat": "hotdog_bun",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/hotdog_bun/HotdogBun005/model.xml"
+            }
+        }
+    ],
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+            "cls": "Wall"
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+        "wall_main_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": {
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+        "cab_2_main_group": {
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+            "cls": "Drawer"
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+            "cls": "Drawer"
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+            "cls": "Drawer"
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+        "stack_4_left_group_5": {
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+        },
+        "stack_4_left_group_6": {
+            "cls": "Drawer"
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+        "stack_5_left_group_base": {
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+        },
+        "stack_5_left_group_1": {
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+        "hood_left_group": {
+            "cls": "Hood"
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+        "cab_1_left_group": {
+            "cls": "HingeCabinet"
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+        "cab_2_left_group": {
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+        "paper_towel_left_group": {
+            "cls": "Accessory"
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+        "coffee_machine_left_group": {
+            "cls": "CoffeeMachine"
+        },
+        "sink_1_right_group": {
+            "cls": "Sink"
+        },
+        "counter_1_right_group": {
+            "cls": "Counter"
+        },
+        "box_1_right_group": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1": {
+            "cls": "Drawer"
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+        "stack_2_right_group_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_3": {
+            "cls": "Drawer"
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+        "stack_3_right_group_base": {
+            "cls": "Box"
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+        "stack_3_right_group_1": {
+            "cls": "SingleCabinet"
+        },
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+            "cls": "Box"
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+        "stack_4_right_group_1": {
+            "cls": "SingleCabinet"
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+        "panel_stack_right_group_base": {
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+        "wall_stack_right_group_1": {
+            "cls": "HingeCabinet"
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+        "toaster_right_group": {
+            "cls": "Toaster"
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+    "lang": "Press the start button on the microwave.",
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+}

pretrain/atomic/TurnOnMicrowave/20250819/lerobot/extras/episode_000062/ep_meta.json

@@ -0,0 +1,419 @@
+{
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+    "style_id": 54,
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+                "try_to_place_in": "container"
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+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_17/model.xml"
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+            "cls": "Accessory"
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+            "cls": "Drawer"
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+        "stack_5_dining_area_group_1_1": {
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+        "stack_5_dining_area_group_1_2": {
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+        "cube_6_dining_area_group_1": {
+            "cls": "Box"
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+        "cube_1_dining_area_group_1": {
+            "cls": "Box"
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+            "cls": "Box"
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+        "hingecabinet_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "singlecabinet_2_right_group_1": {
+            "cls": "SingleCabinet"
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+        "singlecabinet_3_right_group_1": {
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+            "cls": "Counter"
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+        "counter_5_right_group_1": {
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+            "cls": "Microwave"
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+        "hingecabinet_2_front_group_1": {
+            "cls": "HingeCabinet"
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+        "coffee_machine_front_group_1": {
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+}

pretrain/atomic/TurnOnMicrowave/20250819/lerobot/extras/episode_000063/ep_meta.json

@@ -0,0 +1,416 @@
+{
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+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_13/model.xml"
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+                    "on_top": true
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+            "type": "object",
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+                    "all",
+                    "broccoli",
+                    "vegetable",
+                    "food",
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+                "cat": "broccoli",
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+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/broccoli/broccoli_1/model.xml"
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+        "paper_towel_left_group_1": {
+            "cls": "Accessory"
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+        "island_2_island_group_1": {
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+        "island_3_island_group_1": {
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+        "stove_island_group_1": {
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+        "stack_06_island_group_1_base": {
+            "cls": "Box"
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+        "stack_06_island_group_1_1": {
+            "cls": "SingleCabinet"
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+        "stack_06_island_group_1_2": {
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+        "stack_09_island_group_2_base": {
+            "cls": "Box"
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+        "stack_09_island_group_2_1": {
+            "cls": "SingleCabinet"
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+        "stack_09_island_group_2_2": {
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+        "stack_08_island_group_2_base": {
+            "cls": "Box"
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+        "stack_08_island_group_2_1": {
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+}

pretrain/atomic/TurnOnMicrowave/20250819/lerobot/extras/episode_000064/ep_meta.json

@@ -0,0 +1,373 @@
+{
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+            "cls": "Wall"
+        },
+        "wall_right_2_room": {
+            "cls": "Wall"
+        },
+        "wall_right_2_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_main_2_room": {
+            "cls": "Wall"
+        },
+        "floor_1_room": {
+            "cls": "Floor"
+        },
+        "floor_1_backing_room": {
+            "cls": "Floor"
+        },
+        "wallaccessory_01_room": {
+            "cls": "WallAccessory"
+        },
+        "lightswitch_01_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_04_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_12_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_06_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_07_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_08_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_09_room": {
+            "cls": "WallAccessory"
+        },
+        "wallaccessory_10_room": {
+            "cls": "WallAccessory"
+        },
+        "stool_1_room": {
+            "cls": "Stool"
+        },
+        "stool_2_room": {
+            "cls": "Stool"
+        },
+        "counter_corner_1_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_2_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_11_main_group_1": {
+            "cls": "Counter"
+        },
+        "counter_3_main_group_1": {
+            "cls": "Counter"
+        },
+        "stove_main_group_1": {
+            "cls": "Stove"
+        },
+        "microwave_main_group_1": {
+            "cls": "Microwave"
+        },
+        "micro_cab_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_01_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_02_main_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "cube_3_main_group_1": {
+            "cls": "Box"
+        },
+        "singlecabinet_01_main_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_6_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_6_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_6_main_group_1_3": {
+            "cls": "Drawer"
+        },
+        "stack_5_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_5_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_11_main_group_1": {
+            "cls": "Box"
+        },
+        "cube_12_main_group_1": {
+            "cls": "Box"
+        },
+        "coffee_machine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "paper_towel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "plant_main_group_1": {
+            "cls": "Accessory"
+        },
+        "fridgebottomfreezer_right_group_1": {
+            "cls": "FridgeBottomFreezer"
+        },
+        "fridgebottomfreezer_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "hingecabinet_05_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "counter_6_right_group_1": {
+            "cls": "Counter"
+        },
+        "hingecabinet_04_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_06_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_7_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_7_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_7_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_8_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_8_right_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "cube_13_right_group_1": {
+            "cls": "Box"
+        },
+        "toaster_oven_right_group_1": {
+            "cls": "ToasterOven"
+        },
+        "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"
+        },
+        "stack_1_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_4_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_4_left_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "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": "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"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Press the start button on the microwave.",
+    "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": [
+        3.2100339210374282,
+        -0.8893195848933039,
+        0.0
+    ],
+    "init_robot_base_ori": [
+        0.0,
+        0.0,
+        1.5707963267948966
+    ]
+}

pretrain/atomic/TurnOnMicrowave/20250819/lerobot/extras/episode_000066/ep_meta.json

@@ -0,0 +1,574 @@
+{
+    "layout_id": 39,
+    "style_id": 53,
+    "object_cfgs": [
+        {
+            "name": "obj_container",
+            "obj_groups": "container",
+            "placement": {
+                "fixture": "microwave_front_group_1",
+                "size": [
+                    0.05,
+                    0.05
+                ],
+                "ensure_object_boundary_in_range": false,
+                "try_to_place_in": "container"
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "container"
+                ],
+                "cat": "plate",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_20/model.xml"
+            },
+            "reset_region": {
+                "offset": [
+                    -0.08609895283055947,
+                    0.002480606008886735,
+                    -0.17297589002008185
+                ],
+                "size": [
+                    0.44888642688244984,
+                    0.3555662288886925
+                ],
+                "height": 0.36745436576953805,
+                "name": "tray"
+            }
+        },
+        {
+            "name": "obj",
+            "obj_groups": "all",
+            "placement": {
+                "size": [
+                    0.01,
+                    0.01
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "obj_container",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "pancake",
+                    "sweets",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "pancake",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/pancake/Pancakes001/model.xml"
+            }
+        }
+    ],
+    "fixtures": {
+        "wall_main_1_room": {
+            "cls": "Wall"
+        },
+        "wall_main_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_room": {
+            "cls": "Wall"
+        },
+        "wall_right_1_backing_room": {
+            "cls": "Wall"
+        },
+        "wall_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"
+        },
+        "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"
+        },
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+    "init_robot_base_pos": [
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+}

pretrain/atomic/TurnOnMicrowave/20250819/lerobot/extras/episode_000069/ep_meta.json

@@ -0,0 +1,349 @@
+{
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+}

pretrain/atomic/TurnOnMicrowave/20250819/lerobot/extras/episode_000071/ep_meta.json

@@ -0,0 +1,403 @@
+{
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+            "cls": "Box"
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+            "cls": "SingleCabinet"
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+            "cls": "HingeCabinet"
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+            "cls": "Box"
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+}

pretrain/atomic/TurnOnMicrowave/20250819/lerobot/extras/episode_000072/ep_meta.json

@@ -0,0 +1,373 @@
+{
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+}

pretrain/atomic/TurnOnMicrowave/20250819/lerobot/extras/episode_000073/ep_meta.json

@@ -0,0 +1,427 @@
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+            "cls": "Accessory"
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+}

pretrain/atomic/TurnOnMicrowave/20250819/lerobot/extras/episode_000074/ep_meta.json

@@ -0,0 +1,506 @@
+{
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+    "style_id": 11,
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+                "ensure_object_boundary_in_range": false,
+                "try_to_place_in": "container"
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+                    "plate",
+                    "receptacle",
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+                    "on_top": true
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+                "groups_containing_sampled_obj": [
+                    "all",
+                    "chicken_drumstick",
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+                    "food",
+                    "in_container",
+                    "oven_ready"
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+                    "all"
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+                "cat": "chicken_drumstick",
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+        "wall_left_1_backing_room": {
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+            "cls": "PanelCabinet"
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+        "stack_2_island_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_island_group_1_base": {
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+        "stack_3_island_group_1_1": {
+            "cls": "HingeCabinet"
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+        "panel_stack_2_island_group_1_base": {
+            "cls": "Box"
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+        "panel_stack_2_island_group_1_1": {
+            "cls": "PanelCabinet"
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+            "cls": "Accessory"
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+        "panel_stack_1_island_group_2_base": {
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+        "panel_stack_1_island_group_2_1": {
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+        "stack_1_island_group_2_1": {
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+        "stack_1_island_group_2_2": {
+            "cls": "Drawer"
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+        "stack_2_island_group_2_base": {
+            "cls": "Box"
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+        "stack_2_island_group_2_1": {
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+        "stack_2_island_group_2_2": {
+            "cls": "Drawer"
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+        "stack_3_island_group_2_base": {
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+            "cls": "Drawer"
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+        "panel_stack_2_island_group_2_base": {
+            "cls": "Box"
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+        "fridge_1_front_group_1": {
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+        "fridge_1_housing_front_group_1": {
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+        "stack_1_front_group_1_1": {
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+        "toaster_front_group_1": {
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+            "cls": "SingleCabinet"
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+}

pretrain/atomic/TurnOnMicrowave/20250819/lerobot/extras/episode_000075/ep_meta.json

@@ -0,0 +1,433 @@
+{
+    "layout_id": 43,
+    "style_id": 50,
+    "object_cfgs": [
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+                "try_to_place_in": "container"
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+                    "tupperware",
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+                "cat": "tupperware",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/lightwheel/tupperware/Tupperware032/model.xml"
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+        "wall_main_1_backing_room": {
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+        "wall_right_1_backing_room": {
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+        "wall_left_1_room": {
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+        "wall_left_1_backing_room": {
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+        "wall_main_2_backing_room": {
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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": {
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+        "floor_1_backing_room": {
+            "cls": "Floor"
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+        "floor_1.001_room": {
+            "cls": "Floor"
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+        "wallaccessory.005_room": {
+            "cls": "WallAccessory"
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+        "wallaccessory.003_room": {
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+            "cls": "WallAccessory"
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+        "wallaccessory.002_room": {
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+        "wallaccessory.006_room": {
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+            "cls": "HingeCabinet"
+        },
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+            "cls": "Box"
+        },
+        "coffeemachine_main_group_1": {
+            "cls": "CoffeeMachine"
+        },
+        "toaster_main_group_1": {
+            "cls": "Toaster"
+        },
+        "papertowel_main_group_1": {
+            "cls": "Accessory"
+        },
+        "plant_main_group_1": {
+            "cls": "Accessory"
+        },
+        "stack_1_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_main_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_2_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_main_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_main_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_3_main_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_main_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "cube_3_main_group_1": {
+            "cls": "Box"
+        },
+        "cube_4_main_group_1": {
+            "cls": "Box"
+        },
+        "counter_1_front_group_1": {
+            "cls": "Counter"
+        },
+        "stack_1_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_front_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_1_front_group_1_2": {
+            "cls": "Drawer"
+        },
+        "cube_1_front_group_1": {
+            "cls": "Box"
+        },
+        "cube_2_front_group_1": {
+            "cls": "Box"
+        },
+        "stack_2_front_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_front_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "counter_1_right_group_1": {
+            "cls": "Counter"
+        },
+        "singlecabinet_1_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "hingecabinet_1_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "opencabinet_1_right_group_1": {
+            "cls": "OpenCabinet"
+        },
+        "cube_1_right_group_1": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_2_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_2_right_group_1_3": {
+            "cls": "Drawer"
+        },
+        "fridgesidebyside_right_group_1": {
+            "cls": "FridgeSideBySide"
+        },
+        "fridgesidebyside_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "bottom_right_group_1_base": {
+            "cls": "Box"
+        },
+        "bottom_right_group_1_1": {
+            "cls": "Drawer"
+        },
+        "microwave_right_group_1": {
+            "cls": "Microwave"
+        },
+        "singlecabinet_3_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_3_right_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_right_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "oven_cabinet_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "hingecabinet_2_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "microwave_housing_right_group_1": {
+            "cls": "HousingCabinet"
+        },
+        "singlecabinet_2_right_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "top_right_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "toaster_oven_right_group_1": {
+            "cls": "ToasterOven"
+        },
+        "sink_left_group_1": {
+            "cls": "Sink"
+        },
+        "counter_1_left_group_1": {
+            "cls": "Counter"
+        },
+        "counter_corner_1_left_group_1": {
+            "cls": "Counter"
+        },
+        "counter_2_left_group_1": {
+            "cls": "Counter"
+        },
+        "singlecabinet_1_left_group_1": {
+            "cls": "SingleCabinet"
+        },
+        "hingecabinet_1_left_group_1": {
+            "cls": "HingeCabinet"
+        },
+        "stack_3_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_3_left_group_1_1": {
+            "cls": "HingeCabinet"
+        },
+        "dishwasher_1_left_group_1": {
+            "cls": "Dishwasher"
+        },
+        "cube_3_left_group_1": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_2_left_group_1_1": {
+            "cls": "SingleCabinet"
+        },
+        "stack_1_left_group_1_base": {
+            "cls": "Box"
+        },
+        "stack_1_left_group_1_1": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_1_2": {
+            "cls": "Drawer"
+        },
+        "stack_1_left_group_1_3": {
+            "cls": "Drawer"
+        },
+        "cube_2_left_group_1": {
+            "cls": "Box"
+        },
+        "cube_1_left_group_1": {
+            "cls": "Box"
+        },
+        "knife_block_left_group_1": {
+            "cls": "Accessory"
+        }
+    },
+    "gen_textures": {},
+    "lang": "Press the start button on the microwave.",
+    "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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+                0.35,
+                1.05
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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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+            "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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+    },
+    "init_robot_base_pos": [
+        4.931813765525473,
+        -3.392831947974795,
+        0.0
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+        0.0,
+        0.00030199704781619374
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+}

pretrain/atomic/TurnOnMicrowave/20250819/lerobot/extras/episode_000076/ep_meta.json

@@ -0,0 +1,433 @@
+{
+    "layout_id": 33,
+    "style_id": 32,
+    "object_cfgs": [
+        {
+            "name": "obj_container",
+            "obj_groups": "container",
+            "placement": {
+                "fixture": "microwave_right_group_1",
+                "size": [
+                    0.05,
+                    0.05
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+                "ensure_object_boundary_in_range": false,
+                "try_to_place_in": "container"
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "plate",
+                    "receptacle",
+                    "container",
+                    "container_set2"
+                ],
+                "groups": [
+                    "container"
+                ],
+                "cat": "plate",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/plate/plate_0/model.xml"
+            },
+            "reset_region": {
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+                    0.020383485144178683,
+                    -0.15975329689585296
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+                "size": [
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+                    0.2553602756731213
+                ],
+                "height": 0.3388365338927893,
+                "name": "tray"
+            }
+        },
+        {
+            "name": "obj",
+            "obj_groups": "all",
+            "placement": {
+                "size": [
+                    0.01,
+                    0.01
+                ],
+                "ensure_object_boundary_in_range": false,
+                "sample_args": {
+                    "reference": "obj_container",
+                    "on_top": true
+                }
+            },
+            "type": "object",
+            "info": {
+                "groups_containing_sampled_obj": [
+                    "all",
+                    "tomato",
+                    "vegetable",
+                    "food",
+                    "in_container"
+                ],
+                "groups": [
+                    "all"
+                ],
+                "cat": "tomato",
+                "split": "train",
+                "mjcf_path": "/root/robocasa/robocasa/models/assets/objects/objaverse/tomato/tomato_0/model.xml"
+            }
+        }
+    ],
+    "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"
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+        "stool_1_room": {
+            "cls": "Stool"
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+        "stool_2_room": {
+            "cls": "Stool"
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+        "stool_3_room": {
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+        "stool_4_room": {
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+        "counter_2_right_group_1": {
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+        "hingecabinet_2_right_group_1": {
+            "cls": "HingeCabinet"
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+        "hingecabinet_3_right_group_1": {
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+        },
+        "stack_1_right_group_1_1": {
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+        "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"
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+            "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"
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+        "stack_4_island_group_1_1": {
+            "cls": "SingleCabinet"
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+        "cube_3_island_group_1": {
+            "cls": "Box"
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+        "dishwasher_1_island_group_1": {
+            "cls": "Dishwasher"
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+    "gen_textures": {},
+    "lang": "Press the start button on the microwave.",
+    "fixture_refs": {},
+    "cam_configs": {
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+}